The "strong lead or senior developers" you're talking about: I call them TMs. Technical Managers. Because that's what their job becomes when the PM isn't technical enough. In the end, it's not the PM who "turns out fine" when paired with TMs; it's the combo of PM and TM who turn out fine.
There does exist a big difference between "lead or senior developers" who are good at development and those who are also good at using their technical knowledge to manage a team's work. A non-technical PM lacks that essential latter part, and if they have to rely on a "developer" to step up and fill that role, they're still a PM, but they're not the sole person doing PM any more.