They do. As long as the router stays attached to the Verizon network, and has Verizon Firmware, it will get firmware updates automatically when available. There was an update pushed a few months ago to fix 5Ghz Wi-Fi issues.
In order to keep discussion on the community current, this topic has been locked to prevent new replies. If you have a similar question or issue that you wish to discuss, then please feel free to post a new message on the most relevant board. Thanks!