Upvote:3
Do I need to declare this given I have had several ESTAs in the past without any problems?
Technically you might possibly already have violated US law by not declaring it. As you can testify, however, the US won't know about your case unless you run your mouth, meaning it will be safe for you to keep visiting visa-free.
Realistically speaking, honesty is not always the best solution, and in this case would only serve to trap you in a web which could be a hell to get out of. This is a prime example of just that
So indeed, technically you might need to get visas for the rest of your life and declare your past in the form. In practice, though, you can keep going as usual and simply make sure not to spend too much time within short periods in the US.