There’s no law saying that you need to have a rehearsal. As a professional officiant, I understand that I’m going to be standing up front as soon as the Mother of the Bride is seated.
The rehearsal is really an opportunity for your bridal party to get dialed in to how things will happen for your big day. Usually, if you have hired a wedding coordinator, they will also take care of the rehearsal as part of their fee. There’s no need to have Jeff and the wedding coordinator at the rehearsal.
Beware that many venues will charge an additional fee for the rehearsal, since they my not be able to book another event.
The bottom line is that it’s up to you. If you would feel more comfortable having a rehearsal, then have one.