It's not a prerequisite: I see lots of people plugging their cars at public chargers in my residential area; I assume they charge once a week while doing groceries or dining out.
If you can time it with some errands it’s less of a hassle, but that was one of the main non-car annoyances with my EV rental (the other was the flakiness / unreliability of getting a charging session to start).
And even during long legs I don’t need to piss for 30mn every two hours.