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> It's so that you can be asked "Did you sign this?" and you would be lying if you said no.

If you agreed to something verbally, and are then asked "did you agree to this?", you would also be lying if you answered with "no".

Indeed: most laws governing mutual obligations accept verbal contracts just like any other contract.

Having them written down helps with disputes.

There’s usually no record of verbal “agreements”, and casual language is much more ambiguous than signing a document that literally says “I agree”.