They never were required in the ICC/ANSI A117.1-2003. The ICC ANSI A117.1 states where provided.406.13 Detectable Warnings at Curb Ramps.
Where detectable warnings are provided on curb ramps, they shall comply with Sections 406.13 and 705.
The only place in the ICC and Feds accessible guidelines for detectable warnings is only at rail transportation platforms.
805.5.2 Detectable Warnings. Platform boarding edges not protected by platform screens or guards shall have a detectable warning complying with Section 705, 24 inches (610 mm) in width, along the full length of the public use area of the platform.
The new 2010 ADA put it off on the Department of Transportation; therefore, the possible requirement occurring in the Public Right of Ways. Not required in parking lots or crossings therein. Drive entrances located in the Public Right of Way that has sidewalks also in the ROW will require detectable Warnings. However, note that the link Paul provided is a Proposed Rulemaking. I have not heard if it is now set in stone.
Your area may require them if you have amended the Codes.