No signature required - however, the burden of proof is on you if the state brings legal action. (Note that there is no authority for a private cause of action.) At least one group of Michigan attorneys suggests that a customer signature is a good idea.
Our procedure has these documents included in a 'welcome letter' under the section "documents for you to review and keep" - this goes out to the customer upon underwriting approval, along with a host of other disclosures.
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Opinions are Bartman's, not those of my employer. "A noble spirit embiggens the smallest man."