Your mechanic friend is correct
Kinda Sorta
Ford made ped rockers so the workers could just bolt them on the motor as it came down the line at the factory with no checking or adjustment needed whatsoever.
The whole system of "no adjustment necessary" depends on all parts being stock, or original Ford parts. This worked ok cause Ford knew the specs on all of their own parts so that ment the valve train specs always fell within an acceptable range.
If you've milled the heads or used different head gaskets or anything like that, then you should check things for correct valve train geometry.
Later
Grady