Time for the dreaded "It depends...."

Some of the very best performers I've known and seen pick and choose their spots for introductions. You can sometimes segue' from one song into another without an introduction, especially with familiar pieces. But I think you can establish rapport, not to say credibility, with an audience by giving them a little background, historic context and, where appropriate, a little humor in speaking of your next song in a set. Not all of us are comfortable as storytellers, but it is a craft worthwhile practicing.

On the other hand, if your material is all composed, especially if it is your own compositions you're doing, intros might not be as important. Lightfoot, for example, is fairly spare with his remarks between songs. A humorous comment here and there might be all that's needed. More is not expected.