Nope - the 956 motor (935/82) had liquid cooled heads - Gear driven DOHC and air cooled cylinder barrels - fan assisted. At Le Mans in '82/'83 it knocked out 620bhp @ 8200 and 2.2 bar - not too shabby for a 2.6 litre flat 6.
I am not an engineer and can only quote others in this regard, but it is my understanding that helically cut gears lack the tensile strength of 'opposing mesh', i.e. non-synchronised straight cut gears. This makes them largely unsuited to racing applications, whereas a rock-crusher is better suited to handle excessive torque and transmission shunt - and the abuse dished out by the driver, over a sustained period, high temps etc.etc.
Why they couldn't just go with a DAF Variomatic, I'm not sure.