Yes and no.
It’s difficult to talk about audits as a whole as the requirements of each vary so much. But for most types of audit you're going to need a website crawler and spreadsheet as a minimum. Specialist audit tools can facilitate the process further by helping to analyse and make sense of data (like Sitebulb does for SEO website audits).
What you shouldn't do however, is rely on tools alone. Automated audits and reports may have their place, but without expertise and manual analysis applied they offer limited value and shouldn't be considered comprehensive audits.