Not always. The shifting currents of molten rock in the mantle beneath them may make the plates press against each other or pull apart very, very slowly.
Or the plates may move in the same direction along the same route, like two friends walking together.
Sooner or later, however, the continued pressure will force one of them to bend, dive, or rise. Even plates pressing against each other unnoticed will do so only until one finally breaks or snaps.
Then, as untold tons of rock, soil, trees, buildings, roads, and all shift position—it’s an earthquake.