Yes, unfortunately, Hange met their end in the manga. It was a poignant moment for fans. The circumstances leading to their death were quite intense and had a significant impact on the story.
Zoe could become more withdrawn initially. Losing Percy, who was perhaps a close friend or love interest, would be a huge blow. But then, she might slowly turn her grief into strength. For example, she could become more determined in her fights, using Percy's memory as a source of inspiration.