But the RFC language clearly anticipates there are situations and good reasons leading to a message that does not include a message-id. Google therefore would be rejecting RFC-compliant emails, and they are the ones who have to justify themselves.
Theoretically, anyway, I expect in practice they'll just ignore the issue or have their own good reason. But they should accept emails with no message-id; there it does strain the imagination to see why lacking an ID would make a message unreadable or undeliverable.
There are indeed such situations. Two situations AFAICR, and neither of them apply to when you connect to someone else's MX.
Gmail rejects the vast majority of compliant messages, I think they've stated in public that they reject >99.9% of messages, and hearsay has it that the percentage for with minor errors like this is even higher.
There are good reasons why a message might be unreadable. For example, message-id is often used by the threading algorithms in MUAs and IMAP servers, and many don't test whether their threading code handles ID-less messages. I use one that deduplicates by ID, what do you think it does when the ID is empty or missing? I don't know, I haven't tested and I'm not going to.
Theoretically, anyway, I expect in practice they'll just ignore the issue or have their own good reason. But they should accept emails with no message-id; there it does strain the imagination to see why lacking an ID would make a message unreadable or undeliverable.