Unless things have changed in last three years, no you do not need a DUPR. With a big "but", you can only park where the day use parkers park, your campsite reservation slip on your dash proves you have the right to be there if there is a spot. Therefore, if you get to the lot and its full, you are out of luck. This is rarely an issue during the week but on weekends it can be. So get an early start from whereever you are staying and get ahead of the morning rush when they open the Togue Pond gate and let the DUPR holders into the park. Note that it takes time to process the DUPR folks so you dont need to be past Togue Pond gate at 7 AM (or whenever the gate is open these days) but you should try. That means a real early morning if you are staying up at Nesowadnehunk and want to go to Roaring Brook. Especially on the Roaring Brook side, its worth starting in the dark, if you are taking Helon Taylor trail, you get above treeline quite early and the view of the eastern wall of the katahdin massiv lit up by the low angle early morning sun is quite a sight. Photographers do not call it the golden hour for nothing. The animals are also aware of the morning rush and you are more likely to see them in early AM.