Techniques are provided for use by an implantable medical device for determining optimal or preferred atrioventricular (AV) pacing delay values for use in pacing the heart. Briefly, the atria and ventricles are paced using an initial AV pacing delay set to a value less than an intrinsic AV conduction delay so that intrinsic ventricular depolarizations are avoided. An internal electrical cardiac signal is sensed and atrial evoked responses and subsequent ventricular evoked responses are identified therein. Time delays between the atrial and ventricular evoked responses are measured and then a preferred or optimal AV pacing delay value is determined based on: the initial AV pacing delay; the measured time delays between the atrial and ventricular evoked responses; and on a predetermined preferred time delay to be achieved between atrial and ventricular evoked responses. Similar procedures are employed in connection with atrial sensed events. A calibration procedure is also described.