No, the Good Samaritan Act says free food doesn't have to be inspected as long as it's given "in good faith apparently wholesome food or apparently fit grocery products to a nonprofit organization for ultimate distribution to needy individuals"

https://www.usda.gov/media/blog/2020/08/13/good-samaritan-act-provides-liability-protection-food-donations

All fifty states and the District of Columbia have additional food donation statues that limit food donor’s liability—these currently vary widely, such as by who (i.e., donors, nonprofit organizations), and what foods and food products are covered.

state laws may provide greater protection against liability, but not less