Anytime you have incompressible fluids moving in a pipe, and you open & shut valves quickly, you'll have spikes of pressure (ever had water hammer in your house? It can break pipes). The pulsation dampners are there to reduce these spikes.
You can run without them, and many do, but IMO, if Toyota (and other OEM's) put them there, they did it for a good reason. Most OEM's don't spend extra money if it's not needed.