Do I actually need Offboard?

Hey guys,
I ran into an issue with a PX4 quad changing to position-hold once it receives a new mission while in flight.
Also, if after a successful mission I do not manually return to Normal/Stabilized mode by moving a stick on the RC, the quad after receiving a new mission will do a takeoff but then only “hold” in place.

So my question is do I need to go into Offboard mode to resolve those issues or is it something to do with the parameter settings in the drone itself?

Sorry if this seems really obvious or dumb question but I’m somewhat new to PX4 and so far did not see any need for using Offboard but I think now it might be were I need to go to have it working the way I want.

Hopefully someone can point me in the right direction… cheers.