No, you are not required to run a 20-second autonomous portion, and many teams don’t, but you will find that it is very useful, and so I strongly recommend using the opportunity. But do what you feel comfortable with. 
No, you are not required to run a 20-second autonomous portion, and many teams don’t, but you will find that it is very useful, and so I strongly recommend using the opportunity. But do what you feel comfortable with.