When we made our first trip down here with our dog, I called VIDA, because the online information was ambiguous. They referred me to the "official health certification" language and told me it specifically meant the USDA form, just without the additional import endorsement. The first vet I used told me you had to be certified to fill out that form.
Now, knowing the VI, they may have told me that on a Tuesday, and I would have gotten a different answer if I had called on a Wednesday. But two other vets I had to use on later trips both insisted on using the USDA form. So if my own experience differs, sorry for misleading. But a further cautionary tale:
On our final trip down here, we were scrambling and l realized at the very last moment, that I had lost that certificate. I had the signed rabies form and tag, and a signed automated form the vet gives out that showed her exact health status (right down to the state of her teeth). I called the airline and they said no-go without that form. I went up a few channels and they still said without the USDA form, I couldn't fly the dog, unless the doco I had included that we weren't coming from an area with a rabies problem, even when I finally reached someone who knew their rules inside out. Since my flight was early in the morning, before the vet opened, I had to postpone. So maybe it's the airline, maybe it's the vets, or maybe it's VIDA, but I would never fly again with a pet without that form.
Bottom line is that the OP didn't need the import endorsement, so he didn't need a USDA vet.
(Sorry so late in updating, but my browser and I have been having terrible disagreements on who is in charge for the last two weeks.)