Yes, rotation (orthogonal) is necessary because it maximizes the difference between variance captured by the component. This makes the components easier to interpret. Not to forget, that’s the motive of doing PCA where, we aim to select fewer components (than features) which can explain the maximum variance in the data set. By doing rotation, the relative location of the components doesn’t change, it only changes the actual coordinates of the points.
If we don’t rotate the components, the effect of PCA will diminish and we’ll have to select more number of components to explain variance in the data set.