Perhaps, but when Jesus told the paralytic, "Son, thy sins be forgiven thee" he didn't add, "as soon as you go and get baptized."
That is true and he did not confess all his sins before Jesus cured him either.... must be something in the 'eyes' or the 'look' of Jesus that makes the heart melt and confess all that he has done and is forgiven.
And, when one is forgiven and healed the baptism was as if by fire from the divine. And, Jesus never did one baptism.... it must not have been needed. By His example, and that would apply to the thief on the cross too.
I wonder if those people realize how blessed they were to have Jesus right there before them?