No, hyphens are typically not required when using the prefixes “inter” and “intra.”
However, some style guides advise using hyphens in certain instances. For example, the AP Style Guide suggests using a hyphen when the root word is a proper noun (e.g., “inter-American”), and the Chicago Manual of Style recommends including a hyphen to avoid a double “a” or “i” (e.g., “intra-arterial”).