I'm have a D3 that I am going to be installing. My question is, do the vss, reverse, and parking brake wires need to be plugged for the radio to work?

no

no they don't, but your nav won't work unless you do the bypass. Why would you not want to hook it up properly?

The navi will work without the system being bypassed. however in order to access the navi. The parking brake wire must be hooked up properly then.