The answer is no. Let ZC' be ZFC without replacement and infinity and with the assertion there is a Kuratowski infinite set. We will construct a model $M$ of ZC' such that only hereditarily finite elements of $M$ are fixed under all automorphisms of $M.$ The idea is generate a model from a $\mathbb{Z}^2$-array of objects, each of whose only element is the object below it in the array.
Define $M=\bigcup_{m<\omega} \bigcup_{n \in \mathbb{Z}} \mathcal{P}^m(\{\omega\} \times \mathbb{Z} \times [n, \infty)),$ where we adjust the $\mathcal{P}$ operator to replace each singleton of the form $\{(\omega, n_1, n_2)\}$ with $(\omega, n_1, n_2+1).$ (We use $\omega$ to differentiate the $\mathbb{Z}^2$ objects from the hereditarily finite sets).
Define a relation $E$ on $M$ by $E \restriction \mathbb{Z}^2=\{((\omega, n_1, n_2),(\omega, n_1, n_2+1)): n_1, n_2 \in \mathbb{Z}\}.$ Extending $E$ to the iterated power sets is done in the natural way. It is easy to see $(M, E)$ satisfies ZC'.
Notice that the map $(\omega, n_1, n_2) \mapsto (\omega, n_1, n_2+1)$ extends to a unique automorphism on $M,$ which only fixes hereditarily finite elements. Thus, none of the infinite sets in the model are first-order definable.
Update: The author of this question was curious whether there is such a model which also satisfies transitive containment (TC), the assertion that every set has a transitive closure. The answer is yes; here's a sketch of such a model.
Assume ZFC + "there are non-OD reals" in $V$ (or work in a ctm satisfying a sufficiently large finite fragment of this theory). We'll build an OD model $M$ of ZC'+TC such that, from every infinite element $x,$ we can define (in $V$) a non-OD real $r.$ Then $x$ is not definable in $M,$ or else we would have an ordinal definition for $r.$
For $r \in \mathbb{R} = \mathcal{P}(\omega),$ we recursively define $n_r$ by $0_r=\emptyset$ and $(n+1)_r =\{r\}$ if $n \not \in r,$ and $(n+1)_r = \{r, \emptyset\}$ if $n \in r.$ Basically, we're defining a new system of natural numbers for each real.
Let $M = \bigcup_{m=0}^{\infty} \bigcup_{S \in [\mathbb{R} \setminus OD]^{<\omega}} \mathcal{P}^m ( \{n_r: n<\omega, r \in S\} ).$
For each infinite $x,$ there are finitely many (and at least one) non-OD reals $r$ such that the transitive closure of $x$ contains every $n_r.$ The least such real is as desired. And it's routine to verify $M \models ZC'+TC.$