Babies do need to be wiped after pee diapers.
Especially if the baby is wearing cloth diapers they should always be wiped after pee diapers.
Even for disposable diaper wearing babies and children they should be wiped down to remove any potential pee that can be on the skin.
However if you don't have wipes and need to do a quick wet diaper change then you can do so without wiping but it's always best to wipe the baby or child after a pee diaper.
You should use a wipe with every diaper change including pee.
If you're using disposable diapers then it's less likely for the babies or child's skin to have much pee on it although still some small amounts of pee could be in contact with the skin.
So it's best to wipe the baby or child's skin with a wipe or even a wet wash cloth to clean off any pee that could be on the skin.
It's best to freshen the baby or child up before putting a new diaper on them.
With cloth diapers they should always be wiped after pee as the pee stays in contact with the skin as they don't absorb the pee like disposable diapers do.
Because cloth diapers keep the child or baby in contact with pee they are not as healthy or sanitary for the kid or baby to wear as disposable diapers.
Disposable diapers are much better and healthier than cloth diapers and keeps the child's skin dry better than the cloth diapers.
Cloth diapers also need changed more often than disposable diapers because they don't lock in the wetness.
Disposable diapers can go a few hours or so before needing changed but cloth diapers require changing more often to prevent diaper rash.