No they don’t, they regen when you use an ability not from just hitting someone, and considering their damaging abilities are also their movement as well they are not an effective way of health regen. And only serve as extra hp when you have to wait out the cooldowns with nothing but your gun. Venture has to commit to an engagement in melee range.with less effective hp than other melee range heroes.
That said, they do not need any buffs currently.