I don't think they are needed. Normally unused open drain outputs can be left alone. When they say "to the controller voltage supply" I believe they mean to the supply voltage for the external controller that is monitoring the outputs. This is more clear if you read the whole section for context. Emphasis added.
The CDR_ pins are active-low open-drain outputs, which are asserted
during the fixed tOFF decay interval enforced by the integrated
current drive regulation loop. An external controller monitoring the
CDR_ pins can determine whether the integrated current drive
regulation loop has taken control of the driver overwriting the status
of the PWM logic inputs (DIN1, DIN2).
The CDR_ signals can be used by an external controller for a variety
of reasons and provides information about the actual load during
current regulation. For example, in the use case where the PWM are
permanently held in Forward or Reverse mode, control of the motor
current is entrusted to the internal Current Drive Regulation loop and
the CDR_ pin status directly reflects the driver output status. In
this example, the duty cycle of the CDR_ pin can be used to detect
stall conditions.
A pullup resistor must be connected from the CDR_ pins to the
controller voltage supply. The pullup resistor choice depends on the
PCB line capacitance, PWM frequency, and power consumption. Values
between 1KΩ to 5KΩ satisfy the requirement for most applications.
If you don't connect the signals to a controller, then what controller voltage would you even pull them up to? So I doubt the pullups are needed. But, obviously, the safest thing to do is put the pullups in the schematic and layout. You can leave them out during assembly. But if you later find you need to put them in, then it is just a minor rework to do so. Unless the board layout is so tight that you can't fit two little resistors in there.
