You need the high pressure to give a volume of gas without having to have large cylinders, hydrogen does not have the energy density of other fuels so you need to burn more to produce the same power. even in fuel cells. Methane CNC & LPG tanks will vent as the temperature changes and the tank pressure rises. The vehicles cannot be stored inside buildings or maintained in a workshop unless the space has gas detectors and sufficient ATEX extraction to deal with gas clouds.
Hydrogen I would suspect does not vent, but on a vehicle subject to vibration and normal day to day wear over years the danger of leaks is real and dangerous. Probably ok as a new vehicle but 5+ years 100,000 miles not so sure. The tanks will come under the Pressure system regulations for inspection and testing as well.
This is all doable but the efficiency, range and practicality isn’t at diesel levels yet.
I have been deeply involved with the manufacture, testing, refueling, storage and shipping of methane powered vehicles. We did have a hydrogen prototype but found its range very limited with the amount of gas that could be safely carried at reasonable pressures.
The Mirai tank pressure is 700bar+ good luck with that