I would say that depends on how soon you expect to transplant the seedlings. If you allow the soil to dry out completely, it can become quite hard. In my area, it becomes almost rock-like.
I don't usually water areas where there is nothing growing, but about 3 to 5 days before I go out to plant, I put a soaker hose in the area and let it run. Otherwise, getting a spade or trowel into the ground is a hopeless proposition.
If you're planning to set out your starts within the coming week or two, I would keep the area watered a bit in the meantime, just to keep the soil workable. JMO.