In unincorporated Alameda County, the county's public works agency requires an encroachment permit, its sign-off for working in public space, for work in sidewalks and public rights-of-way. Its list names driveway construction, not sealing, so it doesn't settle whether a sealing job needs one, and the county is the place to ask. If your project needs a permit, I'll say so at the estimate and file it with the city or county office for your address, or walk you through it if you'd rather file it yourself.
We're based in Castro Valley and work in Hayward, San Leandro, Oakland, Dublin, Pleasanton and many other cities around it. The sealing calls we get around here are usually garage slabs with oil spots, patios that have faded, and driveways and walkways that someone sealed years ago. That last one is why I ask what went on the concrete before.