There is a machloket regarding whether or not mitzvot require kavana. The Halacha according to the Mishna Berura (60:10) is that if they are d’Oraita they require it but if they a d’rabbana they do not. Of course, if one refrained from doing an aveira without kavana that it is an aveira in the end one did not do it. There, however, is a very strong inyan to go beyond (Baba Metzia 30b). However, this is also part of the Halacha (Devarim 6,18 with Rashi and see He’emek Devar, Intro. to Sefer Bereisheet).
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