Well there is a difference between talking about a legal or medical requirement.That depends on the operator. For example, they are mandatory for Cayman Divers (LCBR and CBBR) and you even sign a waiver before diving that you will do them.
Its however a good advice to do this stop (even if well within NDL) at least if there is no other emergency thats more urgent. It gives some safety margin. There are studies that show the benefit, but its not taught by every agency. Its not totally clear to me if there are still these benefits if you dive with a conservative GF setting and maintain proper ascent rate.