I don’t believe that there is any record of him doing so. He probably lost U.S. citizenship when he was adopted and schooled in Indonesia.
You wrote-
“Did he need to make a citizenship election at age 18 or 21? Did he?”
My understanding is that a minor could not lose his American citizenship due to the actions of a parent. He could become a minor citizen of another country, hence dual nationality, but would need to make an election at the age of maturity. I don't know if that would have been 18 or 21 in BO's case.
By that time, BO was living in Hawaii with his grandparents. But given the political predilictions of his family, I would not be surprised if they blew off that obligation, or even found it desirable to remain a foreign national as long as he had permanent residency.
We have no actual proof that he was ever an American citizen. If in fact the Nordyke twins' birth announcement was removed to insert the Obama data, that data is suspect and he could have been born anywahere since Hawaii would issue an Hawaiian birth certification for people not born in Hawaii and not having Hawaiian parents. [See the story of Sun Yat Sen]