It's not required for the driving test, unless things have changed dramatically. I took mine in the northeast, and i basically drove around the block and parallel parked - i can't imagine it has changed that much, although it has been a while....

Driving on the highway is definitely intimidating, and worth having at least a friend or family member help you go for the ride to build up a little confidence at some point, but I wouldn't say it needs to be before your test.

Honestly, driving in peak rush hour isn't that difficult either, since traffic isn't moving. It's really the times right before/after when there is a lot of traffic moving at high speed that highway driving can get a little hairy, so just plan your trips accordingly until you get more comfortable.