It kinda depends on what you mean by “default”, but you can always right click an app in Finder and select “open”. When you get the scary “unsigned app” pop-up there will be an extra option there to run it anyway, allowing you to run unsigned binaries without making any settings changes to the os.

That said, I largely agree with the rest of your comment. I do think, as a developer, their stapling stuff is way more onerous than the plain code signing. It basically puts Apple in the position to reject your app in the same way they reject apps in the store, even though there is no store involved.