Do limiting resistors always need to be used when driving logic level ICs from microcontroller?
Your microcontroller's output is compatible with the driver's input if the controllers minimum output voltage (VOL) is at least as high as the driver's minimum input voltage (VIL). Please note that VOL depends on the current that flows, so you have to check that the current that the driver needs is inside the controller's allowed range. (CMOS inputs have a very high impedance; this matters only if your driver uses actual BJTs.)

Limiting resistors are needed to protect the diodes against too much current. If you do not have such diodes (and if the driver does not have them), then you do not need resistors.