Will it ever happen that we design a table that doesn't need a primary key?
If you have a table that will always be fetched completely, and is being referred-to by zero other tables, such as some kind of standalone settings or configuration table, then there is no point having a primary key, and the argument could be made by some that adding a PK in this situation would be a deception of the normal use of such a table.
It is rare, and probably when it is most often done it is done wrongly, but they do exist, and such instances can be valid.
The primary key does a lot of stuff behind-the-scenes, even if your application never uses it.
For example: clustering improves efficiency (because heap tables are a mess).
Not to mention, if ANYONE ever has to do something on your table that requires pulling a specific row and you don't have a primary key, you are the bad guy.
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