Proper torque is required for the proper pre-load to a bolt for it to be able to hold the joint together. If the two pieces are designed and machined properly, so that no movement at the joint can occur, there is no chance of movement, and thus little opportunity to affect the tightness of a bolt. If there is a chance, a mechanical means of preventing bolt turning needs to be incorporated.
Materials being secured have to be factored in. If one/both of the components are something other than the material of the bolt, it can expand at a different rate, affecting the torque. So can the compressability of a softer material.
As said earlier, lock washers can fail for various reasons.
Long and short, there isn't a clear answer to the original question. Interesting discussion though.
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