It's useful when you're doing inter-vlan routing.
For example you could have one vlan for security cameras, one vlan for servers, one vlan for clients, one vlan for wifi etc. Then you want to define what traffic is allowed between the vlans.
In pfsense each vlan will appear just as a network interface. So you can setup whatever rules you need. There is no difference between a physical NIC or a VLAN in pfsense after it has been configured.
When you have a WAN connection, router on stick it's not that useful because you have to put the WAN on the same physical switch as the LAN. That's not wise from a security perspective. Better to use a router with two NICs.