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Yes. Even though the driver is not new to the company, he or she is new to the regulated position. A driver-specific application is needed, using the current date as a point of reference. The driver would not use the original hire date to base his or her responses on the driver application. In fact, your motor carrier must be listed under the former employers within the previous three years.
To communicate to the FMCSA that this employee was in a non-regulated position previously, it is important that the driver list:
He or she would check “no” to being subject to the Federal Motor Carrier Safety Regulations and Part 40 testing.
Without this clarification, it could appear to the FMCSA that the employee was operating a commercial motor vehicle without a complete driver qualification file, and you are just now creating one after the fact.