The skating force you are trying to counter is a function of the offset angle, tonearm length and the frictional force generated by the stylus moving through the groove. That part is just basic physics and maths. What is not so predictable is that frictional drag, which will vary with many different factors, including stylus shape, the groove modulation (i.e. the actual music being played at that point) and the vertical tracking force.
It is correct that every tonearm with angular offset will generate some skating force but it will be less the longer the arm is.
Another aspect is that different cartridges have greater or lower sensitivity to the skating force. For example ,in my experience Van den Huls and Koetsus perform better with very little anti skate. Generally low compliance cartridges are less sensitive to skating force. So as practical consequence playing a low compliance cartridge on a 12" arm may well sound perfectly ok without any anti skate. There is also less need for it with a mono cartridge.
As a point of reference Jack, my mono set up that you have heard, Miyajima Zero on an EAT3012 arm has no anti skate provision and the stereo rig with the Io Gold on a FR64S had close to zero anti skate because I was using a specially made lightweight aluminium anti skate weight rather than the FR steel one.