That depends on which 6x6 truck you had in mind. The M35 should not require one. The M54 and 800 series five tons have a Gross Vehicle Weight Rating well in excess of 26,000 lbs., and would require a CDL if they didn't fall under one of the classes for CDL exemption (registered farm vehicle in the course of farm work, emergency vehicle, recreational vehicle, or military vehicle still in active military service - a decommissioned military vehicle owned by a civilian or civil agency is not considered a military vehicle anymore). My suggestion - if it's heavier than an M35 2-1/2 ton (that's the off-road rating), register it as a recreational vehicle if you're not using it for a commercial or business purpose.
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It depends on that state. For example, in California if your vehicle is a “3-axle vehicle weighing more than 6,000 pounds” you’ll need a CDL.
dmv.ca.gov/portal/driver-licenses-identification-cards/commercial-driver-licenses-cdl/#cmv