Best way to keep your parking brake from seizing up is to use it every time you park.

I use mine every time I park the car. Hill or flat or even in the garage.

Yes your A/T park pawl will hold back the car but you are putting undue stress on the engine and transmission mounts.

I always employ the following sequence on a slope:
- Transmission in N
- hold service brake with right foot
- apply parking brake with left foot (or right hand)
- release service brake carefully, ensure the vehicle is stable
- transmission in P

When taking off I don't release the parking brake until I am in drive and my foot still on the service brake.

I never have a problem with the park pawl jamming or being difficult to release when following this method. Or getting the surprise lurch when letting off the brake.

__________________
The OM 642/722.9 powered family
Still going strong
2014 ML350 Bluetec (wife's DD)
2013 E350 Bluetec (my DD)

both my kids cars went to junkyard in 2023
2008 ML320 CDI (Older son’s DD) fatal transmission failure, water soaked/fried rear SAM, numerous other issues, just too far gone to save (165k miles)
2008 E320 Bluetec (Younger son's DD) injector failed open and diluted oil with diesel, spun main bearings (240k miles)

1998 E300DT sold to TimFreeh
1987 300TD sold to vstech