Yes. There is no method for the scanner to figure it out. The scanner can determine what channel code the control channel is but you need at least another code for a voice frequency to get started. Plus if the system uses multiple pairs of base/spacing/offset then you need codes for more frequencies. That is why you need a program like trunker or treport to easily figure out a VHF/UHF system since it displays the channel codes and once you figure out what frequencies the codes represent it is just a few calculations.
Control Channel-only mode does make it easier since you can try different parameters and see if the scanner goes to the right frequencies. You do not have to figure out what all the frequencies are first.