Do sideloaded iOS apps get permissions without asking?
Yes, it will still ask for permission. Just as if you had downloaded it from the store, it will fail to access your camera, contacts, notifications unless you grant permission.

This is important for developers, because it helps ensure that they catch any bugs where they don't ask when they are testing on their devices.  Apps loaded from Xcode follow the same rules in this regard as apps from the App Store.