Yes, all Tivo require service to use MRV. Basically its like a license to use the Tivo software and its features.
Series 2 (Retired, sold)
TiVo HD 1TB (157 HD Hrs, PLS, "S3HD")
Roamio, Oh Roamio!
The TiVo Apocalypse begins on Sat 2013 Feb 16 00:00 GMT!