@zazoobred
Yes, Voyager comms has to compensate for Doppler, which can shift the X-Band 8.415 GHz downlink carrier by up to 1.3 MHz. Receiver tracking loops do that.
Interestingly, Voyager 2, due to a failed tracking-loop capacitor, cannot track uplink signals beyond +-100 Hz offset. So, transmission from earth (at 2.1 GHz) is pre-compensated in frequency, taking earth's rotation, orbital speed and Voyager 2 temperature into account.
See https://fosstodon.org/@AkaSci/110832414978433970 for some more info.