An "onion-csr-01" MUST NOT be used to issue certificates for non
".onion" Special-Use Domain Names.
Clients prove control over the key associated with the ".onion"
service by generating a CSR [RFC2986] with the following additional
extension attributes and signing it with the private key of the
".onion" Special-Use Domain Name:
* A caSigningNonce attribute containing the nonce provided in the
challenge. This MUST be raw bytes, and not the base64 encoded
value provided in the challenge object.
* An applicantSigningNonce containing a nonce generated by the
client. This MUST have at least 64 bits of entropy. This MUST be
raw bytes.
I think the main reason is it allows for easier access to Tor hidden sides with a “regular” web browser. Consider a wifi network that exposed .onion domains via normal DNS, or a VPN, or other similar mechanisms. It’s not as good as Tor browser, but may be a lot more accessible.
Also, some browser features only work on HTTPS sites.