As far as I know, it's a defintional thing. If one adopts the definition that two sides of a quadralateral are parallel when opposite sides have the same length, one can use a geometric construction based on this definition of the parallelness of two different vectors to define parallel transport (also, the more elegant gometric construction known as "Schild's ladder") to perform covariant differentiation.
(Note that given a metric, one can measure the length of the sides of a parallelogram.)
Schild's ladder is discussed in MTW (but not many other textbooks include it).
I've never quite understood torsion, though, or torsion-based theories of gravity.