For a house or addition on corridor clay, yes in practice: McKinney requires a structural engineer's letter certifying the foundation plan, Denison requires engineered foundations for additions, and lenders expect one. Metal buildings follow the manufacturer's engineered drawings, and a simple equipment pad usually needs no stamp.
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The engineering question sorts cleanly by what the slab must do. Habitable structures (houses, barndominium living space, commercial buildings) get engineered foundations here, full stop: the expansive Blackland clays move enough seasonally that McKinney requires a structural engineer's letter certifying every residential foundation plan, Denison's permit information requires engineered foundations for additions and foundation repair, and Sherman requires foundation plans and an engineered shear wall plan for new houses and additions, with an architect's or engineer's seal on buildings over 5,000 square feet. Lenders and insurers expect the same paper. The engineer works from the soil (sometimes a geotechnical report, always the regional knowledge) and designs the answer: commonly a post-tensioned slab or a conventionally reinforced slab with deepened grade beams, tuned to the lot. Pre-engineered metal buildings sit in the middle: the building manufacturer supplies engineered reactions and anchor layouts, and the slab is designed to receive them, with a local engineer involved where the city or the project size calls for it. Simple flatwork (a patio, a parking pad, a driveway) does not need a stamped plan, and paying for engineering it does not need is as much a miss as skipping engineering it does. Two things the engineer's involvement buys beyond the permit: an independent check on any contractor's proposal, since the design is not produced by the person selling the concrete, and resale documentation, because "the foundation was engineered for this soil, here is the sealed plan" is an answer buyers and inspectors accept.