The problem is simplification. Suppose two regions share a border with some nonlinear points a, b, c, d. Simplifying the polygon for the first region might yield a, b, d while the second yield a, c, d. This creates gaps or overlaps between the two regions.
So don’t simplify the shapes on their own. Geojson is a storage and exchange format, you can still convert it to other formats if you want to modify it.
But what is the border? Set the border to what it actually is, not a simplification of it. The state of Colorado is formally a 697 sided polygon, don't simplify it to a rectangle.