If R&D were not bought with Mun rocks, but funds, then these missions to test specific elements could merely reduce the price, and speed R&D. Hence none are required.
Other elements might be required. You must fly kerbals in space for some time period to develop the next generation of life support in a timely way, or you need a space probe to some altitude (the kerbal version of discovering the Van Allen Belts). It's possible to create a system where specific missions are not required by fiat, but because the player would need a necessary understanding of the solar system in scientific terms to make certain sorts of leaps.Let's Rebalance the Tech Tree
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