No, they don't respawn automatically, but:
1. Some new enemies are quest / dialogue related. E.g. in the case with the Dragonflies -- if you kill them all, then go to the woman in the village he would exchange wings for crystals and ask her where to find dragonflies, two more stacks will again appear near the lake. Also in the Dwarven lands, there's an escort mission. Even if you clean up the path in advance, several new enemies will appear when you accept the mission.
2. Some armies go stronger, the stronger you grow (I think). E.g. the cursed kid's army keeps getting stronger, the higher level you are (I think).
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