Yes, The lowest series switch which supports this command is 2960.
At this time this command is not supported on 2940/2950 switches, but may be in future releases.Both the switches are still runnning and not yet EOS. So you can expect some new features in future releases.
Are there any options for someone who wants to authenticate devices against radius without user intervention other than mac-auth-bypass?
It seems like this is a big feature, which should not be left out of lower cost switches.
Any ideas would be helpful.