Timelines works alongside the Plan section. Plans are more for day-to-day collaboration around the next steps/MAPs. They organize the process and hold everyone accountable. Plans are also where discussions can happen in context, which makes things easier for the buying teams vs many email threads that can fail at organizing the deal.
A Timeline helps give a high-level overview of major milestones up to value delivery. It is also collaborative. You can change it with a prospect during a call, or use comments to align on changes in the overall process a-synchronically. However, different from Plans, the key goal here is more to create urgency and give better visibility to what the overall process looks like and less ongoing day-to-day collaboration.