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Yes, they'll die.
http://www.gamefaqs.com/boards/718564-metal-gear-solid-v-the-phantom-pain/72761903
One friend of mine said the same thing so I replayed it for the second time and it killed some of my soldiers when I finished it and i told him that if you replayed your soldiers will die. That's what happened. So yeah if the OP has all S++ and S+ under Direct Contract then go ahead and try it.
I don't know, maybe it's the same thing when a direct contract soldier dies on a FOB invasion, he won't die for sure, but that's a nice question which I won't experiment for obvious reasons.
and to answer the topic, no they don't die if you replay the mission.
replayed it myself recently and noone died.