I think something should be clarified. Orbital mixing depends on symmetry compatibility and energy difference. Mathematically, you can mix in d-orbital character any time you want, even in the case of carbon, but the 3d orbitals are considerably higher in energy than the 3p and 3s orbitals, much less the 2d and 2s orbitals, so their contribution will be small. This is the same reason we don't include 1s orbitals, even though in principle we could do so. In organic molecules, geometries of so-called sp3 hybridized carbons always have some deviation from the "perfect" bond angles predicted by the model. One reason is that the (qualitative) model assumes only a limited number of participating AOs; for perfect accuracy, every orbital should be included.
It would be fair to say that as you go down the period from fluorine to iodine, d-orbital contributions will likely become more important in determining the bonding characteristics, if only because the d-orbitals become closer in energy to the valence electron s- and p-orbitals. it is a simple matter of math: the closer in energy two orbitals are, the more they interact, and the relation is not nonlinear. For that matter, as you go down the group, relativistic effects become more important as well! So really it is not a matter of "do they or don't they" but rather "how much". Still, I think other effects play a significant role in what happens to halogen bond strength as you make your way down the periodic table. Bond strength depends not only on the input AO energies but also overlap, and it is clearly the case the overlap gets poorer as the nucleus gets heavier.
Consider this: the bond strengths of F2, Cl2, Br2, and I2, are ~ 157, ~242.6, ~193.8, ~152.5 kJ/mol.
Bond lengths go like: 144, 199, 228, 267 pm
There is more than one effect at play here. We could surely give a bunch of ad hoc rationalizations to the trends, all of which would probably be, to varying degrees, correct. d-orbitals would probably not be among the first things I would leap to. Nevertheless, if we were to calculate these values with computational packages, we could probably even quantify how d-orbital character changes as you go down the periodic table. It might be a fun exercise, but I'm not sure what we would learn from it. Maybe there's a point where there is "enough" d character that we could feel confident calling the atoms "d-hybridized", even though all these molecules have similar geometries to a first approximation. But I guess that would be subjective.