I think this has been discussed a few times before, I sometimes stick it into N if sitting stationary for more than 30 secs or so. However, I don't believe it would cause any harm if you left it in D. Someone has measured the clutch torque values before with VCDS with footbrake applied, both in N and then in D and you can see they are the same:
Address 02: Auto Trans (02E 300 014 D)
15:37:55
Brakes Brake Light Switch (F)
N Selector Lever Position
-600.0 Nm Specified clutch torque K2
0.000 A Valve current clutch valve 2
0.08 bar Actual pressure clutch 2 (G194)
2.4 mm Synchronous travel path 1st gear
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Address 02: Auto Trans (02E 300 014 D)
15:37:59
Brakes Brake Light Switch (F)
D Selector Lever Position
-600.0 Nm Specified clutch torque K2
0.000 A Valve current clutch valve 2
0.08 bar Actual pressure clutch 2 (G194)
2.4 mm Synchronous travel path 1st gear
Also, when stopped on an upward hill with footbrake applied and leaving it in D, when you come to move off again by taking your foot off the brake pedal and onto the gas, you will notice the car rolls back slightly before getting going again. This would suggest that the car is not sat at the biting point.