Does every military vehicle require an NCO or above as TC?

I have never been associated with any unit that did not have NCOIC/Officer TCs. There is nothing in a regulation, just policy. It is a prudent requirement and accounts for a higher level of oversight for safety in training and tactical operations.

SGT (Join to see) "Does every military vehicle require an NCO or above as TC?"

AR 385-10 The Army Safety Program
"11–10. Army combat vehicle safety guidelines
a. Army combat and track vehicle commanders. Each ACV will have a track commander or VC who will occupy the commander’s position within the vehicle. The track commander or VC will receive vehicle-specific training on the vehicle’s capabilities and limitations."
and
"Senior occupant. The senior occupant of an AMV or ACV is the senior ranking individual present or, in the case of a combat vehicle, the vehicle commander (VC), and is responsible for the overall safety of the occupants."

And in 28 years every unit I was in, had a local policy of requiring Vehicle commanders for all tactical vehicles, wheeled, tracked, and some limited exceptions to that requirement be an NCO, CPL or above.

Something like this

"g. Vehicle Commander (VC). Soldier with overall responsibility for the operation of a military vehicle and is certified under a unit’s TC/VC certification program. VCs must be in the grade of E-4 and above. All tactical vehicles driven, on or off installations are required to have at least two personnel, one of whom must be TC/VC certified. The VC should be licensed on the vehicle if there is a possibility that they may have to operate it. The VC may also be the operator of the vehicle depending on the mission (e.g. continuous operations) or for safety purposes, but still, maintain full responsibility for the vehicle. VC’s must be familiar with the vehicle in which they are the vehicle commander, to include the vehicle limitations, characteristics, and blind spots"

And then you have a DA PAM on convoy operations that states in part

"(3) The convoy commander is to assign an officer or NCO as “Vehicle Commander.” Vehicle commanders, along with vehicle operators, must inspect their vehicle prior to departure of the convoy to ensure that it is safe to operate under both administrative and/or tactical conditions. ."

Last time I did Driver's Training, that was not brought up. However, there isn't anything stating an installation or even a unit Commander can't designate that policy.