No, they don't come out dry, but when we bought it, they suggested we crack open the door after it shuts off to help them dry quicker. I usually don't do this as I don't like the steam. The regular wash cycle takes roughly 100-115 minutes, so I run it at night and don't take them out until the next morning. I still have to dry them with a towel, although they have drip dried to some extent by then. I don't think it would be any different with plastic items, but as I said, I don't usually crack open the door.
Before Bosch finally agreed to repair ours, I thought I was going to have to buy another dishwasher. After researching it, I decided my choices were to switch to Kitchenaid or buy another Bosch, despite the problems we'd had.