No, it's been proven over and over that simply knowing invariants is not enough, in long-term projects built by large teams where team members change over time. Even the most experienced C developers are going to fail every so often. You need tooling that automates those invariants, and you need that tooling to fail closed.

I take a hard line on this stuff because we can either keep repeating the fundamental mistake of believing things like "willpower" to write correct code are real, or we can move on and adopt better tooling.