Is "get to" a necessary part in this sentence?
Yes, you are correct. The meaning of the sentence does not change if "get to" is removed. However, as "get to" in this context is used more casually, it changes the tone of the sentence slightly. The usage of phrasal verbs like "get to" make a sentence sound more natural while allowing one to sound more fluent. Ex: Do we get to eat ice cream after dinner? = Do we eat ice cream after dinner?