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We do know that Data doesn't need to consume food (though he does occasionally do so for the social occasion that often surrounds it). He will also periodically intake a certain mixture designed to lubricate his workings. Presumably, then, yes, I would imagine that he would have to poop to get rid of the food that he does consume, and spent lubricant (unless he has some other way of getting rid of the latter).

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Data probably has an orifice, approximating the human anus, located within his intergluteal cleft, for this purpose.