Answer:
No, a major change is not the only requirement to leave one's legacy.
Step-by-step explanation:
Leaving a legacy means leaving some good and important qualities and ways of life to the next generation. In some ways, it also means leaving some inheritance such as money or assets but it implies more to the good qualities that one influences.
Leaving a legacy doesn't necessarily require a person to have a huge impact and change on others. Some will indeed leave a lasting influence and change while most just did what they love and that became influential for others. The most important thing is to do what one loves, sincerely and with love and care. And then, whether that gesture leaves a change on others or not depends on the people's perception and receiving attitude.
So, in my opinion, it is not necessarily required to make a major change to leave a legacy.