The short answer to this question is no. If there are no injuries and minimal damages, working with the insurance companies to get property repaired or replaced does not always necessitate the intervention of a lawyer.
A lawyer can definitely help you to navigate the system and understand your insurance policy and policy coverages and limitations. In some instances, the insurance company may not offer enough money to repair your vehicle, etc. An attorney can help you seek just compensation.
Attorneys are even more important as it relates to injury situations especially in cases where there is shared fault. For instance, if you are rear-ended in an accident, however it is found that your brake lights were not working, you may be assigned 50% responsibility for the accident. Because accidents are so traumatic and laws so intricate, it can sometimes be extremely difficult for laypersons to accurately interpret the law and apply it appropriately to their situation.
Securing the services of a lawyer is not a necessity as it relates to accident cases, but having an expert review your situation, guide you, and deal with the insurance company to seek just compensation may serve to alleviate stress in the end.