You will want to make your `develop` branch the default branch in git and on GitHub, to make sure pull requests automatically are targeted properly (not doing this would be a major UX pain). However, that means that when you `git clone` a repository you are not guaranteed to get a working version.
The `develop` branch can still be broken, which is a problem that needs to be addressed. While you can revert breaking changes (or force-push it to a previous known good sha), and you can automate this process, the pull request is already marked as merged at this point. This means that developers have to open a new PR whenever that happens.
With the queue approach, pull requests remain open until we are sure they integrate properly. Also, we have the opportunity to use multiple branches to test different permutations of PRs, so we can still progress and merge some PRs even if the "happy path" that includes all PRs does not integrate properly.