.
Always D through towns/urban and also traffic crawls, then always M as my shoulders become level with the actual NSL sign (aka GLF sign) and 'think manual'. I occasionally use S on busy multi-junction roundabouts or on slip roads joining M-ways etc.
I always use the paddle shifters (mine have extensions) when in M and never nudge the floor stick. I sometimes override D or S momentarily with the paddle shifters.
I have Cruise Control but never ever use it - It just doesn't feel right and I hate it! I don't want to accelerate without an instruction from my brain to my right foot. Equally I would hate brake-assist etc.
I wouldn't buy another car without either DSG or its equivalent - It's the best of all worlds, in my opinion.