Do I still need to enable DTC support on Always-on AG group setting?
The short answer is, yes, you need to be running SQL Server 2016 w/latest SP and CUs or higher (2017, 2019) and also enable the setting for the AGs.
Do I still need to create DTC services on CLuster to provide HA ?
Technically, the answer to your question is yes as any other setup would not give you HA at the DTC layer and could lead to possible issues with data quality.