No, you don't have to do anything. However I don't think all Tesla Superchargers are Plug and Charge compatible with the Taycan. You can filter in the Porsche app under Charging / Map.
First time charging at a Tesla Supercharger. I was impressed how easy it was. No app, just picked up the Tesla cable, inserted my Porsche NACS to CCS adapter and plugged it to the car.
After about 20 seconds the charge started. I do have the optional On-board 150kW / 400V DC charger and I saw...