Jamie's Discussion:
In Denver: Yes. The building department is very clear that for new detached construction with habitable space, a soils report is required. You can try to get by with building a "shed" which is a non-habitable space and falls under less rigorous requirements, but then you'd also have to get by without plumbing or air conditioning for the space; plus the Denver building department has been closely scrutinizing "shed" permits which look suspiciously like living spaces.
In other jurisdictions: Maybe. For a quick discussion on other jurisdictions outside of Denver, such as Centennial or Cherry Hills Village or Aurora or wherever have it, it depends on your local building department. Some building officials are starting to follow the example of Denver. However, we are currently seeing that they are most often not required for ADU's outside of Denver. Without a soils report, the accepted practice is to match the type of foundation construction of the main house. In the front range, that would be either spread footings or drilled piers. If your main house is on drilled piers (drilled piers = higher construction cost), then any structural engineer will require a soils report prior to designing an ADU foundation. Helical piers are another consideration but in the interests of not getting bogged down I'm not going to discuss them here. We have worked in multiple building departments across Colorado, so feel free to reach out if you would like to discuss your jurisdiction in particular.
Follow-up: Can The ADU Lab provide my soils report? No, we cannot because we are not geotechnical (soils) engineers. You will need to contact a geotechnical engineering company for a soils report. We can help direct you towards local geotechnical engineering firms.