No with Heliboard, but with Futo keyboard and Swiftkey. It's been my go to voice input regardless of the keyboard I'm using.
It doesn't require internet at all, and doesn't even include that as a requested permission. I guess any model update would require an app update, though I don't know how often that happens.
I find it to be really reliable and accurate. I wish I could use Futo in the Transcribo app since I like the text editing functionality of Transcribo, but find the voice input lacking.