Remeshing for Model Targets

For model targets, is it okay if a provided mesh has some intersecting faces, degenerate geometry, etc.? If not, is this something that Vuforia's mesh simplification process would take care of in addition to the simplification? Finally, do the answers to the previous questions change if the mesh is, despite self-intersecting and whatnot, still watertight?

I want to make sure I'm getting the best tracking performance possible out of my model targets, but I also do not want to unnecessarily waste time trying to improve the meshes I need to work with (manually remeshing them is not feasible given their level of detail, and I'm still searching for a good tool that would do it automatically).