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It depends. If it's a vehicle of more than 10,000 lbs. GVWR being used in interstate commerce, yes. If it's a vehicle over 26,000 lbs. GVWR, yes. If it's a vehicle under 26,000 lbs. GVWR but it either a bus designed to transport more than 15 persons or is carrying a hazmat load which needs to be placarded, yes. In the case of the latter three, you also need a CDL.

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