Of course I am talking plastic pipe and yes it can help.
Look up the thermal data (Tg, melting point etc) and modulus data for typical plastic pipe materials like polybutylene (PB). Cross linked materials are a bit different due to the chemistry but they will benefit, especially as at room temp they can be very stiff.
I suggested a hair drier for a reason, manufacturer guidance will be generally aimed at people with hot air guns and blow torches in their toolkits so advice is to not use any heat but you know that by not exceeding the in service temp you are also not going to do any damage. If it’s a short length you can also submerge it in hot water. If you look at the max pressure-temp ratings of cold vs hot water you will see a massive difference (4x) between the 20 degC pressure and the 105 degC pressure (normal max temp rating for these things). This is purely down to the difference in the mechanical properties over that 85 degrees.
Note that general guidelines state to not put plastic pipe within a metre of a boiler and IIRC not to use it at all with a solid fuel system as the temps may not be as well controlled.
If you want to see another effect of heat on plastic pipes look at how it expands lengthways when you run hot water through it. If you have a piece of pipe clamped at say 2ft intervals and constrained at each end then it will snake between the fixings due to the lengthways thermal expansion.
Use heat at your own risk and only low levels and to help with slight bends as you could de-laminate any wall structure but it does help.