If you were barred for 10 years because you overstayed a year or more, but it has been more than 10 years since you left the U.S., then no, you do not need a waiver. However, you will have to apply for a B visa and prove non-immigrant intent, strong ties to your country and that you will not violate a visa again.
I will provide you with two links that may be helpful. The first is to an article that will explain what they look for when issuing a non-immigrant visa like the B-2. The second is a list of things that can be presented to prove non-immigrant intent and the strong ties to the home country.
And here are some links to good articles:
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