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I'd suggest to note if the players find the roll as uninteresting as you do -- if they do, then all good. If not, I'm fine with (in the specific instance mentioned) leaving it as is in the PH, namely either stealth vs. NPC passive perception, or group check and go with majority result. I always try to put the onus of the die roll on the players, because in my experience, the players are more invested in the moment when their die roll directly affects the outcome.
I'll note that although the PHB suggests stealth vs. passive perception, it does not specify that you should roll when the player declares that he is being stealthy.
Which really gets more to the point of the debate here (I mean, until we derailed into realism). Not what ability score to roll or what the DC is, but how/when/why do you actually use ability checks.
As for consequences of failure, I've also liked experimenting with so-called "failing forward" if they fail, the consequence is that a level of complexity just got added. Failed stealth? perhaps they still do go uncaught, but now alert status is heightened, meaning their target has, or was, moved for better safety, or a timetable they were hoping to beat has been ramped up, rather than "all stealth is blown, roll for init." Depending on circumstance, I try to think of inventive consequences for failure that don't involve, well, outright failure.
Oh, yes! I'm all for complications as a consequence of "failing" the action.