Not necessarily. You can measure things in ways that add energy: e.g. radar waves contribute a tiny bit of energy to the things they bounce off. Yet they measure where objects are.

You can also measure some things in ways that add exactly 0 energy. If some quantum system absorbs exactly nothing of a certain wavelength, that tells you something about the system.

You don’t need to remove energy from an object to measure it.

If you shine a flashlight into a dark room, you are measuring the positions of objects inside, and those objects don’t lose their energy.

So could it be said then that it's more efficient? Say, you'd need less energy to measure time with a time crystal than a quartz crystal?