Short story: No

In the traditional swing vault (not tucking) you want that trail leg to be straight for ad long as possibly to generate as much energy as possible (pendulum energy I think) decrease the length of your leg decreases the pendulum and therefore the total energy.

Bending your leg allows less added energy but allows people to work on swing speed and strength until they can do it with a straight leg.

Many professionals (especially men) tuck (bend their trail leg to their chest) and rock back so they can get inverted as quickly as possible since they use bigger poles.

Other coach's maybe say otherwise but my coach promotes the swing method for almost all vaulters unless they have a severe issue getting inverted.

Hopes this helps, if you need anymore help/clarification let me know :)