Why do full range drivers need a step baffle?

It depends on the application, not all need a baffle step correction filter. But baffle difraction takes often a few db's from the bass frequency, and the BSC filter brings everything back in balance. Some technical explenation is found here: Understanding Baffle Step and Diffraction

But the filter is not mandatory, and some drivers (Mark Audio Alpair drivers as example) have a build in bsc in the frequency graph. Or you can also conpensate that in driver choice and crossover in a multway setup. it all depends on a lot of factors if it's needed or not. I use Mark Audio drivers in most of my builds and never really needed it.

And if done passive, it's mostly and inductor and a resistor, that create a lowpassfilter that reduce the output above the baffle step frequency a few dB's to bring all back in balance. This reduces the sensivity of the driver a few dB. When done active it's a low shelf eq that boosts the lower side of the output to compensate for the loss