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I don't directly penalize lack of role playing - I do, however, reward role playing. Good role playing tends to make task DCs a bit easier because I have more information to base my adjudications on. Backstories and thought-out motivations give me more opportunities to engage the player via that PC's connections and motivations.
Players who don't role play miss out on those opportunities and benefits. If they're OK with that, I don't have much of a problem with them. But I generally don't stop trying to draw them out a bit more.
And for my purposes, role playing isn't synonymous with acting or the craft of thespianship. That's a subset. It's more about playing the PC with the PC's distinct character in mind. It could be all in the 3rd person as far as I care.