This vastly depends on how you intend to distribute your binaries.
I get away with distributing internal tools to my team completely ad-hoc signed, as long as I download them with cURL or SFTP. Downloading with a browser taints them, of course, and gatekeeper will prevent you from running them.
To be clear, it doesn't depend on anything. If SIP is enabled, you cannot run executables on ARM Macs without codesigning (they may be ad hoc signed, sure, but they still need to be signed). The executable will get killed immediately if you don't.
You can avoid gatekeeper problems by clearing the xattrs on the file. If they're internal you can also just distribute over a network share and it's not an issue.
Code signing is required for aarch64 macs unless they have SIP disabled, so this is kind of important.