Should RF output of (30+j10) Ohms be matched to 50Ohms for antenna matching network?
The antenna may be 50 ohms but you need to check the specs on it. You definitely want to match the antenna so yes you probably want a matching network between the pin and antenna, fire up an Pi matching network app or webpage and type in the parameters to get values back out the you need to match
The datasheet you shared said yes you need a Pi matching network. So im not sure why you are asking, but yes you want 50 ohms out, but like 30-j10 on the input of the Pi network to match the mcu pin (notice the negative j30)