My opinion is that the first revision of the GTP needs to be split into one minimal set, containing the absolutely necessary (*) commands for making it useful for tournament kind of use, and an extended set with useful but less critical commands that would be good to standardize early. Undo doesn't get into the first group but well into the second.
If you have a tournament where a human is part of the loop (perhaps a professional is playing all of the programs or something) then undo is a requirement. Humans make mistakes. SGF allows I, but go boards traditionally don't use I, stuff like that.
I even suspect without a human, communication problems, line noise, etc. would make undo a requirement.
Pierce