This is not a question about the actual rules but a hypothetical one: had ĉu never been introduced to the language, but all the rest was the same, what, if any, would be some ambiguities this would cause? Should there be none, has it been documented why Zamenhof did not eliminate such auxiliary word from the language (just like he did eliminate, e.g., the indefinite article)?
I used to think that a word to mark a question was necessary, but in written text that's quite literally what a question mark does and in speech we have intonation. My current guess is that there may be some compound sentences in which the understanding would differ depending on whether ĉu appears in the dependent or independent clause or something but I can't come up with any working examples.