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Yes, all double bonds involve unhybridized p orbitals. A pi bond is formed when two unhybridized p orbitals from a different atom overlap side by side which results in a shared electron pair which occupies the internuclear axis.
I was wondering this as well, because I wasn't sure if a double bond could involve unhybridized d-orbitals instead of p-orbitals. I'm still not entirely sure, but I don't believe there would be any situation in which this is the case. I think especially since we focus mostly on sp, sp2, and sp3 orbitals, we should just assume in general that a double bond is made between two unhybridized p-orbitals. However, I'm not 100% on this, because I don't know whether we should consider this possibility for the d-orbitals.
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