You are correct VA doesn't require, it's up to the lender; however, neither Hallmark or our investors allow escrow waivers on government loans.
  

Ch. 9, 11. a.: Requirements

VA does not require the lender to establish escrow accounts for the collection and payment of property taxes, hazard insurance premiums, and similar items. However, it is the lender's responsibility to ensure that these items are paid timely.

A lender who chooses to escrow for taxes and insurance must comply with applicable laws, including the Real Estate Settlement Procedures Act (RESPA).

Original question: 

Can we waive escrows on a VA loan? If so, is there a down payment requirement to be able to waive the escrows? 

As far as I know, this would be up to the lender?