In the nectar of devotion the different levels of devotional service are described, from sadhana bhakti to prema bhakti. Does a devotee have to come to the levels of bhava bhakti and prema bhakti in order to go back to godhead in this lifetime?

If a devotee comes to the level of bhava or prema then it is certain they
will go back to Godhead. Even while living in this material world they will
be with Krishna, in a liberated condition.

If a devotee is still in sadhana bhakti it is possible that they may go back
to Godhead, but they will have to make a special effort to remember Krishna
and be fixed in devotional service.