Nickel
I fly models and fullsize helicopters,from experience on R22, R44 ,B206 and SA341G I know these aircraft don't have stability or mixing in relation to the tail rotor.
A properly set up model will climb or descend from the hover without any yaw with no rudder input from the pilot as the gyro in conjunction with the up and down mixing will sort it out for you as I say if it's properly set up.
In the 'real thing' because you are sitting in the machine when you lift the collective or lower it you immediatley feel the yaw and compensate with your feet and in fact with experience you compensate before the yaw even starts as you learn to anticipate it so it becomes automatic.If I change from clockwise rotation to anticlockwise rotation aircraft ie R44 to SA341G I might have to slightly remind myself, or if not the aircraft or my instructor will ! .
So in answer to your question , no the torque is not compensated for automatically the pilot does it.
I can't vouch for larger aircraft but I think for example the S76 has some sort of mechanical mixing and I think the notar machines have some electronic mechanical mixing, maybe someone else knows.
If you haven't done so already I suggest you book yourself a few lessons with an instructor and try the real thing for yourself it will be the best money you ever spend IMHO.
R