Do I have to have to be on a visitors list to see an inmate

That depends on the facility. Some require that you fill out a visitation form that is sent into the national crime database (NCIC). Most if not all jails and prisons will nt allow a felon or former inmate to visit a current inmate without pre-approval for a special visit by the warden. There are other facilities that will allow a visit with your driver's license. You should call them directly to make sure you are in compliance before making the trip.