The issue I have my with automatic (DSG Golf) is that I have to have my foot on the brake pedal to take it out of neutral. So at the very least I have to stop, brake, take car out of gear, handbrake on, Handbrake off, brake, put car into gear.
If waiting at a level crossing or something it's not too bad, but the need to brake before putting it back in gear means that if I'm at a roundabout, or anywhere I'll need to 'nip out' the only real option is to sit with my foot on the brake pedal.