When Minato used hirashin and slit obito's throat, Tobirama raised the question of whether Minato had prior marked Obito...
that alone implies that seals are an necessity for Hirashin..
Ontop of that, Kakashi was in complete disbelief that obito has a space time jutsu that didn't require seals..
And what did Minato say when he noted that Obito's s/t didn't require seals? that it surpases his and the 2nd's ability..
Idk why people are bringing this up, seals are needed... how he did it may be explained, or may not..he could have easily marked sasuke without him knowing during the battle somehow and it wasn't shown..