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Yes, they do.
No they don't.
You may be too young to remember, but I vividly remember France forbidding us to enter their airspace on a mission to bomb Libya (Khaddafi). Our bombers had to fly around France. My young self was royally p-o'd, and I even resorted to calling slivers of fried potatoes "freedom fries" (that was a thing for a few months after that incident - yeah, I was a naive and uninformed Republican in those days).
The French threw a hissy fit. They've never been able to see themselves for what they are in the NATO alliance- not the top dog. They've kept a very deGaullian view of themselves the entire time.
You absolutely have to have permission for military aircraft to enter another country's airspace.
Do you have evidence they had no permission?
I find it hard to believe that a US flight operated by the Air Force wouldn't file a flight plan.
