There are books and programs for ear training, but I've not tried them. One resource that keeps coming up is F. Alton Everest's
Critical Listening Skills for the Audio Professional. I've been meaning to get that book for years. (The same author's
Master Handbook of Acoustics is a standard reference that should be on everyone's bookshelf.) But I haven't, for the simple reason that ear training is something that happens naturally whether you actively pursue it or not. However, I'm sure that a formal training regimen would shorten the time needed versus natural osmosis, which takes years.
To answer the question directly, yes, ear training is absolutely critical. Without it you're stumbling in the dark, twisting knobs and hoping serendipity will save you.