Everyone will say "depends on the system" but generally the D term is not only not needed, but typically considered counter-productive or even against best practices. PI-loops tend to be much more stable than PID-loops and far easier to successfully tune for an acceptable response. You do get overshoot with a decently tuned PI-loop, but it's not enough to cause problems. A bit of overshoot doesn't tend to hurt anything.

Of course, a "perfectly" tuned PID loop will be "better" - more efficient, faster to reach setpoint, and minimize overshoot. But the effort/engineering time/operation time involved in tuning it, combined with the risks presented by a subtly poorly tuned loop that goes haywire one day when the system paradigm (characteristic) changes...just isn't worth it.

Obviously there are times when you really do need a D term, but I can confidently say that they're not commonly used in HVAC or petrochemical plants. I'm sure there are other domains where the D term is needed, but in my time as a controls engineer I didn't run across them.