Can one talk "with" someone?

The verb talk usually has to preceding its complement/object:

(I) I talked to him about his misbehavior.

Is it idiomatic (and/or grammatical) to use with instead?

(II) I talked with him about his misbehavior. (?)

(III) Who did you talk with yesterday? (?)

I ask because an associate has claimed that with is not idiomatic with talk and therefore ungrammatical.

This online resource suggests the difference is semantic:

Usage varies, but generally 'talk to' indicates the simple action (as opposed to remaining silent), while 'talk with' suggests an extended conversation.

The simple answer is that talk collocates naturally with both to and with and that both talk to and talk with are grammatical.

Your recent edit of your question actually provides the semantic difference:

talk to indicates the activity of talking, followed by the listener as object

talk with implies conversation, discussion, and discursiveness

Some examples (with comments) appearing on different online dictionaries (most of which don't provide an explanation of the distinction):

a. Everyone was busily talking with their friends.

b. I need to talk to you.

c. Talk with your advisor.

d. It was no use talking to Anthony.

a. clearly connotes discussion

b. sounds might sound a bit stern, or as though the speaker will do most of the speaking, perhaps to inform the listener of bad news or admonish him/her

c. clearly connotes discussion

d. suggests Anthony doesn't listen, not just that Anthony doesn't like to converse

Is the distinction hard and fast? To my ear:

a. needs "with," not "to"

b. could use either

c. could use either, but better with "with"

d. could use either, but there may be a slight connotative difference

Americans, who use prepositions completely differently to us, talk with people all the time.

In Britain we generally talk to our interlocutors, and they talk to us.

'Talking with someone' always sounds to me as though you are both speaking at the same time, a bit like singing a duet.