No we don't need it. For most of English history, most people didn't use titles. It only became assumed everyone needed a title to be 'proper' in the late Victorian/early Edwardian time period (varying by place).
Prior to that, they were used to signify class and/or occupation. It's why in Quaker writings particularly, as well as some similar groups, have long discussed not a title even if one 'could' as part of the practice of equality.
As that shift did happen, it would probably need an equivalent shift which enabled people to no longer use them and/or a further shift to titles dividing by different characteristics (age perhaps) or back to by profession as they're going to stick around in those that have had them for centuries like medicine, law, and education.
Many object to women having multiple titles that have become associated with marital status. I find it more frustrating that we're stuck with having an incomplete word because Mistress, Madam, and nearly every female title has become associated with prostitution and oversexualised. Men don't get called Murr.
‘Older generations’, I.e the generations that invented feminism, developed Ms to avoid naming women according to their marital status.
Ms was developed during the 17th century, and during the 17th, 18th, and a good part of the 19th in many places, none of the shortening of Mistress were automatically connected to marital status. There are writings of and about unmarried women using Miss, Mrs, Ms, and Mm (madam) in the social circles where women had either the assets or were in professions.
So, older generations didn't name women according to marital status, more recent generations pushed for it to do so as part of having everyone have titles and be 'proper' in their categorisation, and many have been complaining and trying to fix it since.