Short answer
For wellness and lifestyle tests, no, they are direct-to-consumer. For clinical and diagnostic panels, yes, those require a doctor's involvement.
At-home wellness kits are designed to be ordered without a referral, prescription, or clinic visit. Clinical-grade panels, for inherited cancer risk, cardiac conditions, or specific diagnoses, should always involve a physician or genetic counsellor, both to order the right test and to interpret it safely. A good provider tells you which category a given test falls into before you buy.