What you describe as pleasant, seems disgusting to me (maybe cultural differences? don’t know). What I can assure you is that, if you know how to use utensils and proper utensils are delivered (which does not happen often where I am living now), there’s no chicken nook that will stop you to leave the roasted chicken with just plain bones, with no need to use your hands.

Nevertheless, I guess that it all depends on where you are and who you are eating with, when in Rome…

For me, and my culture, it is a sign of poor manners to be eating with bare hands, it is not about being judged is what you learn… it is something acceptable in kids but something to be corrected and something that I would expect an adult not to be doing. There are some exceptions (pizza, but only if the crust is hard enough that it won’t bend, otherwise utensils; sandwiches, but only if the ingredients will stay in the sandwich, otherwise, we use utensils; bread) basically anything that will warranty that your hands will remain clean, otherwise, use of utensils is mandatory or cleaning towels (or water with lemon or some sort of cleaning towel) must be provided.