Do I need ELDT if I've held a CDL in the past?

Some states will reinstate the CDL if you provide a new DOT physical. I don't know if PA is one of those states.
Go the the DMV and say you want to reinstate your CDL.
Edit: take a copy of fresh DOT physical with you to the DMV.

 

Ask your state Dept of Motor Vehicle or Driver License office. Don't give them a story. Say something like I had a CDL until Date#1 and what do I have to do now to reinstate it or make it valid now? 40 guesses are not going to help. The answer from your state is the answer.

 

What was the goal of the ELDT anyway, just a money grab for someone? It didn't seem to help anybody who just got their CDL that I have seen.

 

FMCSA’s Entry Level Driver Training (ELDT) regulations set the baseline for training requirements for entry-level drivers. This applies to those seeking to:

• Obtain a Class A or Class B CDL for the first time;
• Upgrade an existing Class B CDL to a Class A CDL; or
• Obtain a school bus (S), passenger (P), or hazardous materials (H) endorsement for the first time.

The ELDT regulations are not retroactive; individuals who were issued a CDL or an S, P, or H endorsement prior to February 7, 2022 are not required to complete training for the respective CDL or endorsement.

Entry-Level Driver Training (ELDT) | FMCSA