Pretty much the same here. I just leave it in R or H depending on which direction I will be heading next time out. By steping on the brake you can start in any gear and be ready to roll with little to no shifting.
I NEVER use park, always neutral with the parking brake, I find the parking brake holds quire well, and the shifter is smooth going out of neutral, sometimes a little throttle blip to slide back into neutral, but not fighting with it, like getting in and out of park, feels like water getting frozen in the shifter button
