The pod containing humans is pressurized, almost like a balloon, to keep a it full of air. As long as the astronauts are in this pod, they don’t need to wear their helmets.
The reason they wear them anyways is this pod can get damaged and leak, so the helmets act as a backup in case the pod fails.
Liftoff, docking, and some other activities are the highest risk of the pod getting damaged and leaking, so they wear their helmets during those activities.
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