My drive is flat, so I do not leave the parking brake on overnight. This is particularly the case in the winter, as the car might not be used for a few days and the linings could seize up. The less the foot brake is used, the less stretch on the cable is my thoughts? I do use the brake to keep it moving. I apply the foot brake when parked away from home and ALWAYS if the car is on a slope.
Others may have a different opinion.