It can vary by state. In Oregon all you had to do was bring in a current physical and pay the fee and they would reinstate your cdl as long as it was within three years of downgrading it.
Two years ago l gave up my CDL. How do I get it back
A CDL is required to drive any of the following vehicles:
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Two years ago l gave up my CDL. How do I get it back
CDL:
Commercial Driver's License (CDL)
A CDL is required to drive any of the following vehicles: