If you did have FindMy enabled. It will show up on iCloud.com under the find section. You will see it in the device list. Below is a personal example. If that is the case, then yes. Your device will erase if it connects to the internet.

But if it FMI was not enabled. It will not. The following is what apple recommends for device that are lost, and FMI was not turned on. I also attached the link for more details
If Find My iPhone or Find My iPad isn't enabled on your missing device
If your missing device doesn't appear in the Find My app or at iCloud.com/find, you didn't turn on Find My. There's no other Apple service that can find, track, or flag your device for you. But there are steps that you can take to help protect your data.
Change your Apple ID password
If you use more than one Apple ID, you should change the password for each Apple ID that you have.
Change your Apple ID password.
Change your password for other accounts
Change the passwords for other internet accounts on your device, like email accounts, Facebook, and Twitter.
Report your missing device to local law enforcement
Law enforcement might request the serial number of your device.
Find the serial number.
Contact your wireless carrier
If the missing device is an iPhone or an iPad with cellular, report your missing device to your wireless carrier. Ask the carrier to disable your account to prevent calls, texts, and data use. And if your device is covered under your wireless carrier plan, file a claim.
Remove your missing device from your list of trusted devices
Go to appleid.apple.com to remove the missing device from your list of trusted devices.
https://support.apple.com/en-us/HT211207