Hello,
It's not a strict IKE requirement that you may ignore it. However, defining the IKE responder and initiator may receive a little benefit that reduce the chance of 'duplicated' IKE SA created.
Cisco has mentioned that IKE have no mechanism to check if the IKE negotiations is already exist or not, therefore, bi-directional negotiation may create duplicated IKE SA. It may consume unnecessary computing resource on both of the VPN devices.