#1412 you may or may not need a waiver after the 10 ban is up. The best way is to stop in at the local border station and have them review your computer file while the ban is still on. They will tell you if you have to keep getting a waiver. Also, you will have to show them the waiver every time you cross. Do not forget to do this as it could bite you if you fail to do so.
Again, you may not need a waiver after the fact. It will depend on the specifics of your case. Not everyone has to keep getting waivers for the rest of their lives....Btw...Overstaying is not more serious than a Theft offence (or criminality in general) since the USA is very hard on criminality. They definitely will not jump for joy though over the fact that you overstayed. You could be one of the lucky ones that will not have to keep doing these waivers.
I would be more concerned if you had something like Possession for Purpose of Trafficking(PPT) or a sex crime since this administration is really hard on these offences.
Again, best thing is to just check with the border station and have them review your case. It cold save you a lot of money in the future.
Also, generally speaking....if you only had an overstay and absolutely nothing else and no other/prior violations...then you should be good. It is kinda hard here without reading your actual sworn statement and seeing how they charged you and under what categories. SO this is just general information.