Yes, soil borings are required at various intervals (depending on local codes and ordinances) to ascertain the bearing capacity of the soil, as well as any contaminants.
These usually take the form of cores removed; a few inches in diameter, going down a varying amount depending again on local conditions. Unless something is in the direct path of the drill, it won't be detected.
They are also likely to do a regular survey, with the usual topographic tools, to compare with the official survey. Any discrepency between the official survey (frequently dating back decades) and the new one will likely be investigated, as it could indicate site disruption or undocumented construction.