In theory but there are times when it does not. I have had to manually install up to 5 dependent packages to get tidyverse or another package to install.
I do not remember ever seeing a error message like
URL 'xml2_1.3.5.zip': status was 'Failure when receiving data from the peer'
Error in download.file(url, destfile, method, mode = "wb", ...) :
download from 'xml2_1.3.5.zip' failed