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.
http://www.ilw.com/articles/2009,0528-schwartz.shtm
https://help.cbp.gov/ci/fattach/get/46680/0/session/L2F2LzEvdGltZS8xMzk3NDE3MzcxL3NpZC85M1BEQ0lSbA==/filename/Intentions+and+Ties.pdf
And here are some links to good articles:
https://www.immigratetoamerica.org/how-to-show-strong-ties-to-home-country-while-getting-a-visa/
https://www.quora.com/How-can-you-prove-you-have-ties-in-your-home-country-when-applying-for-a-B1-B2-visa
https://www.us-immigration.com/blog/how-to-show-ties-to-home-country-during-a-visa-interview/
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