is there any objective or urgency to add quorum/witness on Always On High Availability Groups?
you can read this article
Quorum is a mechanism that helps ensure that WSFC is up and running through ensuring enough resources are online in the WSFC. If the WSFC has enough votes, it is healthy and able to provide node-level fault tolerance.
A quorum node set is a majority of the voting nodes and witnesses in the WSFC cluster. The overall health and status of a WSFC cluster is determined by a periodic quorum vote. The presence of a quorum means that the cluster is healthy and able to provide node-level fault tolerance.
Whenever a witness is set for a database mirroring session, quorum is required, as long as the current principal server has quorum, this server owns the role of principal and continue to serve the database, if the principal server loses quorum, it stops serving the database
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