I drive with my hand on the shifter all the time even with my auto X. Force of habit from driving a manual for 12 years straight. The only time I don't have my hand on the shifter is when I roll down the window, then I drive with the right hand and have my left arm resting on the door. I also get the hand off the shifter to work the stereo or temp controls.

I also often turn off the overdrive off when I want to slow down. Offroad, I often downshift to control the speed in descents. Again habits coming from driving a manual.

As far as the armrest is concerned, on the 2002, I find that it is too far behind. I can rest my elbow on it if I don't put my hand on the shifter, but my girlfriend that is 5'1" can't use the armrest because it is behind her instead of next to her. I much prefer armrests that are attached to the seat back and fold up and down so you can use them or get them out of the way when you want. However, those would be awkward with a manual.