You can get along without a transfer switch as long as you never make a mistake, but it only takes one mistake to cause you to wish you had installed one.
I ran a home gen for several years without a transfer switch - I had the gen cord (with male plug) wired into a spare two-pole breaker and an air-conditioner type disconnect in the garage in line with the cord so that the possibility of a 'suicide cable' configuration was diminished. I knew what to throw/connect/disconnect when and everything worked fine... I was confident with my knowledge and ability.
Well, during one power outage I did something in the wrong sequence and all it did was trip the breaker on my generator, but it scared me *big time*. I immediately bought a new one of these
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on eBay for about half of the store price, selected the circuits to use with it and installed it properly. Now, even my wife can get the backup power going (well, almost): She fried the garage door opener and several other items by not having the twist-lock plug shoved in completely into the generator - it was thus connected without a neutral and several items in my house took offense to this configuration.