Yes, if you want to
safely make it into the Gold queue for the morning Hall
D23 panels, expect to queue overnight with the exception of Legends. Traditionally, Legends hasn't required a camp out to get in, but with Stagepass and the induction of Robert Downey Jr. this year, you can't safely rely on past expo data.
eta: Didn't mean to imply that overnight queuing is a requirement, but if you really want to get in to Studios specifically, I'd arrive by midnight or 1am at the latest. Since Parks has traditionally been an afternoon panel, it's harder to predict how that queue will go, but my gut says a 3-4am arrival should probably be OK. But again, if you really have your heart set on any of the major panels, camping out is the only way to ensure a spot outside of reservations.
There is a separately marked Gold queue, but it's also in the Hall E basement with the rest of the overnighters. In the past, once they brought the overnight queue inside the convention center, they separated it out into show floor (and everything else), Hall D23 general, and Hall D23 Gold. If you want to get into the Gold queue for the Arena you'd wait in the show floor line and then "walk with purpose" to the Arena queue as soon as they let you in.