When speaking of duct loses, you need to consider Location, Location, Location. If in a conditioned space, then I would say no, duct insulation is not required because of thermal regain which underpins any discussion of where ducts should be located within the facility. The higher the thermal regain factor, the better the location. .The best places for ducts are in spaces that are intentionally heated, or that retain lost heat exceptionally well. If ducts are located within the conditioned space, any lost heat or cooling is not really lost (although it may be necessary to rebalance the system to attain proper distribution within the facility. All other duct locations have regain factors ranging from 30% down to essentially zero, and should be insulated.To the extent that thermal regain occurs, duct energy losses are reduced.