Thank you for reaching out to the HubSpot Community.
From what I can see here, it seems like they do automatically add or update a contact in HubSpot when someone fills out the Typeform. However, if you don't see this happening with your Typeform, I'd recommend reaching out to Typeform Support Team since this integration is built and supported by them and they should be able to troubleshoot for you. You can reach Typeform at : support@typeform.com or from here.