No, he didn't.
He DID vote to support the Women's Health Protection Act.
However, the Women's Health Protection Act does not allow for all abortions up to birth, but rather prevents the government from restricting access to abortion, after viability is determined, if the woman's health is at risk.
https://www.congress.gov/bill/117th-congress/house-bill/3755/text
Reinforcing that, yes, if a unborn baby is determined to be medically viable (rather than by any government, religious, or moral standard), then an abortion cannot happen UNLESS the pregnancy risks the Mother's health.
Nor does the bill provide further provisions on the payment of abortions through taxpayer money.
But do please, lie to me more.