I used to work at a company that used proto2 as part of a homegrown RPC system that predated gRPC. Our coding standards strongly discouraged making anything but key fields required, for exactly this reason. They were just too much of a maintenance burden in the long run.

I suspect that not having nullable fields, though, is just a case of letting an implementation detail, keeping the message representation compatible with C structs in the core implementation, bleed into the high-level interface. That design decision is just dripping with "C++ programmers getting twitchy about performance concerns" vibes.