Tollgate reviews are "MUST Do" pause and review exercises for both the project variants : DMAIC & DMADV.
Why essential? It's the time when all stakeholders get to evaluate the work done this far, make sure the reality is acceptable to the team vs the plan. Team agreement on the direction taken & direction that will be taken is the key achievement out of the exercise. Course correction is ensure if it necessitates.
Who all should attend? Every team member who shares responsibility & accountability towards the stated objective of the project should attend, express their opinion, document the observations & decisions taken. This will ensure there is minimal REWORK and that the end achievement is the "Best Achievable" one.