Don’t drive your car, it will cause wear. How much premature wear do I cause on the shift forks v. comfort from resting my arm in a comfortable and intuitive position? Like, is it even a real concern with modern vehicles? I have an armrest that I rest my elbow on, so there is fairly minimal weight on the shifter with…

I get that, but why not PDNRL? Would save you from going through R every time you take off, and would make it less of an effort to shift between P and D like 99% of the time when taking off and parking.