We have a stipulated agreement, court is in a few days. Is an appearance by both parties required?

Just in case the Judge has any questions for the parties or finds any error or omission in the documents that are submitted, it is best for both parties to appear at the hearing. The parties should have exchanged Preliminary and Final Declarations of Disclosure, and should have filed their respective Declaration re Service of those Declarations of Disclosure. If not, exchange those documents and bring the Declaration(s) re Service of those documents to the hearing, along with a completed and signed Appearance Stipulations and Waivers, a Declaration re uncontested Dissolution, a Judgment, quadruplicate Notice of Entry of Judgment, and self-addressed stamped envelopes, along with extra copies of each document for the clerk to conform and mail or otherwise provide back to you. You would best bring your MSA and Judgment package to the Self-Help Clinic in advance of the hearing date, to ensure that all documents were properly prepared and signed, and to receive directions how to handle the hearing.

While I cannot give you legal advice in this forum, since it appears that you are both representing yourselves and while it may or may not be necessary, I think it would be wise to appear so there are no issues later.