The assumption that 「私を起こした」 itself clearly shows that the action is for the speaker's benefit seems an unwarranted one. Surely there are plenty of cases of being woken up where one's interests are more harmed than benefitted?
「私を起こした」 can stand without 「(～て)くれる」 just fine, but not because it clearly shows that the action is for the speaker's benefit but more because it does not clearly show that the action is for the speaker's benefit.
If the verb phrase expresses an action that is by nature beneficial to the speaker (or to someone from whose perspective they are speaking), that, if anything, is all the more reason to use 「(～て)くれる」. This is because 「(～て)くれる」 is an expression, before all else, of the speaker's recognition that the action is beneficial to them. With verbs that denote actions that are inherently beneficial (like 助ける), not using 「(～て)くれる」 is
sometimes even unnatural, depending on the context. Consider the following:
In (1), the speaker is helped/saved by Sato-san, the performer of an act that is (inherently) beneficial, and (～て)くれる appropriately adds the information of the the speaker's recognition thereof. (That is, 「助ける」 and 「～てくれる」 work together, but there is no redundancy between them.)
The (～て)くれる-less (2) can sound like it is uttered by a person who lacks the appreciation of the basic fact that being saved/helped is something that is beneficial to them, barring cases where personal viewpoints and feelings are discarded for objectivity.
But since in the sentence 「父が私を起こした。」, the verb phrase does not express an action that is by nature beneficial to the speaker (unlike 「僕を助けた」), this will not be an issue.
Both 「父が私を起こしてくれた。」 and 「父が私を起こした。」 are fine sentences. The first one indicates the speaker's recognition that the father's waking them up was beneficial to them (plus appreciation/gratefulness for the act), while the second one does not, which is not odd at all, because being woken up is not always something particularly beneficial and to be thankful for.