There was an internet site on which an Indian Enfield guru/mechanic was going into torques wrenches and mentioned, just as you have said, clamp, to set them aside, and tighten bolts by feel. As I recall, he said what you have, to tighten all bolts (not just head) by feeling when the threads are pulling. In earlier times, I used to over tighten, but sort of naturally came to the same conclusion and haven't had trouble with broken bolts since.
It is almost a Zen type of thing as one intuits or senses when it is right. Head bolts, I'm not sure, but like you say, if it isn't leaking, maybe leave it be. There may be some loosening of the bolts through compression of the said-to-be-soft washers, though, so maybe at some point tightening will have to be done.