Exactly. I ride all day without gloves and usually only wear them when it is so hot that the bars get slippy with sweat. I never get numb hands, even after eight hours, thanks to a proper bike fitting session.
I did get pins and needles a while ago, which my physio diagnosed as a muscle imbalance in my forearms. She gave me an exercise gripping a tin of beans between little finger and thumb and raising and lowering my wrist with the forearm resting on the arm of an armchair. That sorted out the problem - YMMV, of course - and I've never had it since.