No in most states if your engaged in commerce and meet the 10001 lb thresh hold. If you travel across state lines engaged in commerce.
You most likely need a USDOT number. Some states have exemptions for strictly intrastate travel allowing for higher rate before you need one.
Each state is different on those requirements. One needs to check with their states Motor carrier unit.
My neighbor does driveways, seawalls, etc. he uses multiple trailers, one for equipment, one a dump trailer, DOT tags not required because it is not an interstate trailer. Same with dump trucks not involved in I ter state travel. Only comply with state issues (Florida).
Its not “cargo.”
A motor carrier transports passengers or property for compensation.
US DOT WEBSITE