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Doing the quests might give you rewards (dropped loot) and give you extra allies you can summon in the final battle. But the game is completely winnable without doing those quests.
I don't do all companion quests each playthrough. First was Lae'zel, Gale, Karlach, then next playthrough I did Evil Shadowheart, Astarion, Minthara, then I did Wyll, Jeheira, Halsin, +Minsc (at the end I just swapped him out).
Kept each playthrough fun.
Next evil run I think I'll play as Gale or make Gale evil.
I always do them for RP reasons, and because I often enjoy the fights that ensue (the fight in the Temple of Shar is one of my favorites in the game), but no, you don't "have" to.
Not doing them may affect how their endings and epilogue work out ... but again, that's not a "must" thing, just noting this since you asked. If you do want certain endings for them, you may have to do their personal quests.
And then sometimes the ultimate resolution depends on choices you make after.
For example: so if you complete the Wyrmway/Ansur, for example, Wyll can choose either to become the Blade of Avernus, or the next Grand Duke of BGC. You can let him choose himself, or "influence" his choice. I find if you leave the choice up to him, he usually chooses to become the Blade of Avernus.
If he becomes the next Grand Duke, well, congrats, you now know the new leader of the city.
If he becomes the Blade of Avernus, he will hunt down Mizora and other creatures in the hells. He no longer has his warlock powers, so he's switched to being a ranger.