Only on the perpetual swap contracts. If you trade regular futures contracts, you can avoid funding fees entirely. That's why they are arguably better for longer term holding.

Futures markets tend to price in that difference by forming a premium over the spot and perpetual swap markets. For example, the XBTH20 contract expiring on March 27th currently has a mark price of $10,780 even though the spot market is trading at $10,400.