How do you think about it? Can we safely assume that the device will be EMC compliant for radiated emissions without doing expensive EMC tests?
That depends on your definition of 'safely'.
Without actually seeing your product, it's impossible for me (or anyone else) to say with any confidence whether or not it's likely to be compliant.
You might decide that, since you've designed a simple product with a limited number of digital signals external to the MCU, and that the edge rate on each one of them is well controlled by design, then it's likely the product will be emissions compliant. However, if you take this approach, you must understand that you are taking a risk. That risk is that someone - a customer, reseller, competitor or regulatory authority - will test your product and find that it's not compliant after all.
You, and only you, can assess how bad that risk is. If you're making a handful of boards to sell in a niche market, the chances of it being picked up and tested by a local regulator are much lower than if you were making televisions or photocopiers by the million. It's up to you to decide whether you want a product which is definitely compliant, or a product which definitely bears a CE mark. The two are not the same.
If the worst happens, and someone in authority asserts that your product is non-compliant, then you could find yourself in trouble. One of the best reasons to have a formal test carried out by an EMC lab is that it gives you a good defence should you find yourself in court. Provided you can show that you had a solid basis on which to claim compliance, you're unlikely to end up receiving a criminal punishment even if a particular product (for whatever reason) turns out to fail. You'll still have to bear the costs of any recall or redesign, of course.
As well as radiated emissions, there's also immunity to consider, including ESD. I'm not aware of any basis on which you can reasonably expect to claim your product 'must' pass immunity 'by design' without testing it. That said, the test criteria are pretty subjective - basically your kit is 'immune enough' if you say it is, but there are limits. If, for example, a nearby mobile phone ringing causes your product to reboot, then that's a no-go. If it makes a bit of a buzzing noise on an audio line, though, then that's probably OK.
Nobody reputable is ever going to say 'no, you don't need to test', and if anyone ever does, then you should ask them whether they'd be prepared to take personal responsibility for your product's compliance.
I've personally spent enough time in EMC labs to know that any product can yield a surprise. I've seen hugely complex boards pass without a hitch, and apparently much simpler ones fail horribly. It can be down to the enclosure design, the cables attached (which are the source of 95% of harmful emissions in my experience!), or even just an unfortunate choice of component on the board which happens to generate way more noise than perhaps it should.
I'm sure if you wait a while longer, someone will come along and tell you what you want to hear, which is that you don't really need to test at all provided you've designed your product according to good engineering principles. What that means is that they'd be prepared to take the risk themselves, and deal with the consequences should they arise.
Only you can judge the risk that you are personally willing to take.