No. Bride's attendants and Groom's attendant need not look like the Chorus Line for a Broadway production number, or to match up in boy-girl pairs like so many salt and pepper sets. The recessional can be people walking alone, walking in pairs (mix gender or same gender), or walking in groups of three or more if the aisle is wide enough.
Why are you having a program? Do you understand that no one had ever heard of a "wedding program" until about 30 years ago, and they were invented by printers seeking to make more money, not by brides or etiquette experts? Is your ceremony so complex that people won't understand that a marriage is taking place unless you give them a printed handout? Is there no one with the social skills to make proper introductions after the ceremony?
If you feel that you must have this nifty but expensive and troublesome little keepsake, then you alter your program to fit the shape and size of the various families and of the wedding party. You do not seek to alter the wedding party or the family structure for the sake of a symmetrical listing on your printed hand out.