I have lived in five different states and my experience is if the title has a notary spot it's required, if it doesn't then it's not. In other words if the state you live in requires a notary on their titles and you bring in a title from a state that doesn't they skip the notary part. and vice/versa if your state doesn't require a notary but the out-of-state title does then you will have to get it notarized.
