No. Eswatini doesn't ask visitors to fill in an online arrival form (also called an entry form, immigration card or landing card) before they travel. Air travellers may need to complete a health form; format not stated.
Do I still need a visa for Eswatini?
An arrival form is not a visa. Whether you need a visa or an electronic travel authorization depends on your nationality, so check Eswatini's official immigration website or your own government's travel advice.
Other countries in East, Central and Southern Africa