Simple answer: No, there is no requirement for a reaction to have a rate determining step, though largely we are able to show through kinetic experiments that the vast majority of reactions do have a rate determining step.
Longer answer: Most reactions have a reaction pathway that consists of one of more intermediates (one or more 'steps'). In these cases, one of the steps is likely (though not necessarily) slower than the others, leading to the concept of a rate determining step (RDS).
The RDS is, as you say, a bottleneck to the reaction. If you imagine the reaction where...
$$\ce{SM -> I -> P}$$
...and $\ce{I -> P}$ is the rate determining step, then no matter how fast you convert $\ce{SM -> I}$, the $\ce{I}$ will just be accumulating until it reacts to form $\ce{P}$ and hence the second 'step' is said to be rate limiting. This can be derived mathematically, but as you are asking the question I assume you're yet to reach this topic yet.
In essence, the $\ce{I -> P}$ rate constant ($k$) dominates the kinetics, making the rate constant for $\ce{SM -> I}$ irrelevant. This simplification is incredibly useful in physical organic chemistry as if we know the rate limiting step, we can think of ways to increase the overall reaction rate by considering how to speed up the slowest step on the reaction pathway.
Catalysts lower the activation energy of a step, allowing it to proceed faster, and in some cases this might mean that the rate determining step is no longer rate determining and some other step along the reaction pathway is. They may do this in a variety of ways, one of which is a change in mechanism (i.e. providing an alternate reaction pathway), when this happens, its not really valid to keep using the same kinetic argument developed for a non-catalytic variant of the reaction, and as such a new rate equation (and hence the rate limiting step) should be developed (if this is important).
Of course, it is extremely time consuming to measure these kinetic parameters, and even when measured it can be difficult to interpret the data for complex reactions. When we discuss the 'rate determining step' as practicing organic chemists, we are often generalising based on similar systems for which the kinetics have been studied.
There are, however, reactions that occur in a single, concerted step. These are known as pericyclic reactions. All of the bond making and breaking occurs via a single transition state, with no intermediates formed and as such there is no RDS (everything occurs in one step).
A famous example of this is the Diels–Alder cycloaddition: