I want to secure the communication of a TCP-based program using a shared passphrase/key. The easiest way to do that without having to deal with block size, padding, ... is to directly use a stream cipher. Doing that way, the amount of data is not changed between clear and encrypted data and the modification is trivial.
Using only a stream cipher means that there is no authentication and I have always considered/heard that encryption without authentication is not secure enough and should not be used.
If adding authentication to a stream cipher is mandatory, we lose the simplicity that stream cipher has added because we must add an HMAC or use an authenticated encryption method (like crypto_secretbox from NaCl), there is a minimum message length, we must handle padding, ...
What would you recommend? Is it safe to only use stream cipher without authentication in some particular cases?