I use the parking brake maybe once a week or so on all of our cars, just to keep it free and working.
Park works just great on any automatic I've ever had, and first or reverse is just fine with a stick, unless you park on a slightly steep hill, in which case the parking brake should be used with either type of gearbox.
I like to check underneath our cars for leaks around the oil filter gasket after a change, and you can bet that I'd never get on my knees in front of a running automatic car without ensuring that the parking brake is applied, and works.