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Do I need a bidirectional DC to DC converter...
No: the DC to DC converter converts high voltage DC from the traction battery to ~12 V DC for controls and accessories. That has nothing to do with whether power goes from the battery to the motor (normal driving) or from the motor to the battery (regenerative braking).

...or a bidirectional onboard charger...
No: the onboard charger converts AC from the charging station (or regular outlet) to high voltage DC for the battery. Power coming from the motor to the battery (during regenerative braking) is DC already at battery voltage, so there is no role for the onboard charger.

... or special contators...
Physical contactors are relays - the power flow through them does not matter, so the same contractors work whether power goes from the battery to the motor (normal driving) or from the motor to the battery (regenerative braking).
 
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