"Dragonrider" (Crew Dragon) will, as far as I know. It's more interesting for cargo vehicles to use large diameter berthing adapters that require the use of Canadarm2: Cargo Dragon uses the Common Berthing Mechanism which has an opening of more than 1 m (because they don't have room taken by the impact-dampening capture ring, they can't allow autonomous docking but have a relatively wide opening). Crewed vehicles usually are not filled with large hardware pieces, but humans who can pass through a much smaller opening. On the other hand, it's best for them to be able to undock as easily as possible in case of emergency, so using Canadarm2 isn't nice. They therefore rather use docking adapters (not berthing) with a smaller opening diameter. I think Crewed Dragon will use NDS/iLIDS.