Not really. Are V2 considered a heretical docuмent? Then doesn't it make people who believe it heretics? Someone brought up judge by behaviours, well the N.O. people clearly go to N.O. with no problem too or even "communion service" and believe it's the congregation that makes the consecration happens...
The problem here is between formal heresy and material heresy. A
formal heretic would be a Lutheran or Eastern Orthodox who
explicitly denies one or more dogmas of the Church. By extension, many of our recent "Popes" have done this. Whereas the majority of Novus Ordo attendees would only be
material heretics because they are
ignorant of the dogmas that they may implicitly deny; in the case of Vatican II, the teachings on religious liberty.
So, again, to answer your question, NO, those who attend Novus Ordo are not (formal) heretics and you CAN pray with them.