No, they need to use transwarp conduits.
A transwarp conduit is like a train track.
Any cube can use a preexisting conduit at rapid speed, or make a new conduit which slows transit down considerably. With forethought the Borg make conduits between many desirable locations and the 6 transwarp hubs in the milky way galaxy so that future Borg do not have to dick around.
A transwarp hub is like a trainstation.