Presumably the idea is that if a wire does come loose, then the tape will prevent it from contacting something conductive. The question is if a wire does come loose, what is the likelihood of it pulling so far out of the wire nut that it can do that and how often that occurs. Clearly the industry, NEC authorities, etc don't think it's an issue, otherwise tape would be required. And that presumably is based on all the accumulated knowledge of what electricians actually see in the field. Besides that, wires can always come loose. Yet backstabbed receptacles and switches are allowed. Screws can come loose too, yet there is no code requirement to wrap those either.