No not compulsory. Really depends on how long the parents want to visit Canada, how strong their profile is, and whether you meet LICO for your family size for 2021, etc. A supervisa is more dependent on the finances of the child in Canada while a normal TRV is dependent on the parents’ finances and assets. No matter what you should be purchasing health insurance unless you have millions in savings so can pay out of pocket for any medical care needed without any big impact to your savings.