Like most things in the world, sun is healthy and non-damaging in moderation.
Having heard professional opinions on the subject (after having a grandpa die from melanoma, but sunscreen didn't exist really back then, not even really when my dad was little, we were the first generation to really use sunscreen when outdoors all day)
the general opinion is if you don't burn, then any amount of sun exposure up to that point is totally normal and healthy, remember humans have been around for a long time, if the sun killed us we wouldn't still be a species.
Yes, this means fair skinned individuals need more protection, and spf is smart, but a tan is totally healthy and normal, and if you are able to build up a tan slowly then you won't burn as easily, which is why before Hawaii or Coachella I always make sure to lay out like 30 mins every sunny day for a couple weeks leading up to whatever it is, it eliminates the worry of burning, I still wear SPF 8 on my body and SPF 20 on my face and shoulders, because it prolongs the amount of time you can spend in the sun, but without the "pre-tanning" I would be miserable 2 hours into the day.
Although I don't have to worry about Coachella this year, ugh lineup was terrible, skip.