Yes when setup correctly the UCSM VIP will come back up. From my experience it takes about 45 seconds for arp to clear itself out and for the VIP to be pingable on the secondary node.
You can always login directly to the secondary via cli and check HA status. It also takes a few seconds for the Secondary to become primary when your FI is rebooted. Also a good practice to manually fail-over HA to the secondary if you are doing a planned reboot.