Sort of. In the strictest sense, yes - the cq is a ring buffer (implemented with fancy atomic stuff), so you have to check if there is a completion on the queue before you read the entry. However, this doesn't need a syscall to do polling, if more completions come in while you're processing, they will be available to you.

There's also a syscall (io_uring_enter) that will do a context switch and wake you up when completions are available (it's a complicated syscall, that has a lot of knobs and switches and levers - just be ready for a LOT of information if you go read the man page).