Which Signals require impedance matching?
Your categorization is irrelevant to the problem.

What's relevant is the question of whether the wavelength of all relevant signal components are large compared to the conductors involved.

So, yes, most high-spead signals you'll find on a PCB itself need impedance matched traces. Same goes for high-speed signals leaving the PCB.

Low-speed signals and power don't need impedance matching. Neither on PCB, nor off-PCB.