We were all taught in fourth grade and told that we would need it increasingly, having to use it a little in middle school and that teachers wouldn't accept work not done in cursive in High School. It wasn't hard to learn, but I do remember being faintly annoyed during the time period we were taught it.
I have never, not once, had a teacher tell me that they wanted something written in cursive (barring signatures on tests and such), much less wouldn't accept an assignment if it wasn't written in it. I have had teachers ask us not to write in cursive.
Honestly, I have forgotten much of what I was taught. I can write my signature and maybe guess at a few sentences.
My handwriting isn't pretty either way.
Honestly, I think that we shouldn't teach cursive in schools. Instead, we should make learning how to type mandatory at a young age. We had a required class in middle school, but it was too late for me by then- I still type in my odd, incorrect way.