Do you need a air break endorsement to drive a truck with air brakes in pa?

On a US licence, the supposed "air brake endorsement" does not exist. For a driver obtaining a CDL, they must take the written air brakes test, and conduct their road test in a vehicle equipped with air brakes, or else they will get a restriction prohibiting them from operating a commercial vehicle which is so equipped. For everyone else, no such criteria exists - RVers, people renting U-Haul/Ryder trucks, etc. do not need to know the first thing about air brakes in order to be allowed to operate a vehicle equipped with them, so long as that vehicle doesn't require a CDL.