I'd say no box required. As long as all your fittings are listed and there is no splicing of the conductors. At least I've never been called on it. How else do you make motor connections?
It has been done the way you mention seemingly forever, and I have never heard of such application being rejected by an AHJ. However, an alternative is to use connectors such as T&B's 5271 series with female NPT hub...