How would the sender know the consequences of sending without the header? You shouldn’t assume anything here. As a sender, you should include it unless you’ve already worked out what the recipient is expecting or how it will be handled. Doing this with email is silly because the client is sennding to so many different servers they know nothing about so it’s basically a requirement to include it.

> That clearly means it’s not required.

You and I have different definitions of "clearly"

It is not required for the protocol of one SMTP client sending one message to one SMTP server, but it is required for many Internet Mail applications to function properly.

This one for example, is where if you want to send an email to some sites, you are going to need a Message-ID, so you SHOULD add one if you're the originating mail site.

> How does Google know whether or not the sender has a valid reason?

If the Sender has a valid reason, they would have responded to the RFC (Request For Comments) telling implementers what they SHOULD do, rather than do their own thing and hope for the best!

Google knows the meaning of the word SHOULD.

> it means they would reject emails that have valid reasons as well.

No shit! They reject spam for example. And there's more than a few RFC's about that. Here's one about spam that specifically talks about using Message-ID:

https://datatracker.ietf.org/doc/html/rfc2635