> I understand that Apple does everything in its power to make the life of developers miserable

All XCode projects are automatically code signed on every build. If you have a developer membership with Apple, it uses a certificate issued by Apple. If not, it's just a locally-generated certificate.

If you use make or call Clang directly, obviously there is no signing process, but there is a command-line tool that you can use and integrate into your non-Xcode build process just fine.