See Michael Young's example: doing so breaks existing otherwise compliant implementations.
'From ' is pretty much the only thing interesting to protect in an email message, as it is a separator between email messages.
The '-' escape was just a way to protect nested signatures etc to avoid confusing the parser of the outer signatures.
The rule's been that way since at least 1992, and I haven't seen any new chars needing quoting. So it's survived the test of time.
Cheers, -J