No they didn’t. The full oath of office is this:

I do solemnly swear (or affirm) that I will support and defend the Constitution of the United States against all enemies, foreign and domestic; that I will bear true faith and allegiance to the same; that I take this obligation freely, without any mental reservation or purpose of evasion; and that I will well and faithfully discharge the duties of the office on which I am about to enter: So help me God.

Source

You could make the claim the constitution compels them, but it doesn’t. It gives them the power, as a check on the executive branch, but no obligation. See https://history.house.gov/Institution/Origins-Development/Impeachment/.

And from that same page, note this:

Fines and potential jail time for crimes committed while in office are left to civil courts.

At the absolute best, all they could do is remove someone from office. But they can’t impose other penalties. And they can’t remove anyone from office, because they don’t have the votes. So, it would be an enormous waste of time and energy to impeach Trump. And for all the time they focus on that, we still have multiple wars, rising costs of groceries, housing, healthcare, education, etc, ICE running around like vigilantes, a prison system that’s basically slavery with extra steps, and so many other problems that can actually be addressed.