Is it bad to the health of a car to use the parking break while at a complete stop while I'm still in drive (automatic)?

Example: I'm driving and I come up to a construction scene. One side of the road is closed and they consequently halt traffic for that both sides. Then a guide vehicle moves one lane and then comes for the other. This can take over five minutes while completely stationary. I frequently pull my parking brake while still in drive, however only while at a complete stop with my foot depressing the brake pedal. Once the parking brake is engaged I release the foot brake.

Is this bad for the health of the car? I leave it in Drive so that when traffic begins moving again I can simply disengage the Parking Brake.

Additional Details:

Honda Civic 2015 SE Automatic.

I took my Honda Civic off-roading. Did I cause any damage to my car?

So I accidentally took my 2012 Honda Civic on a off roading adventure the other day (don't ask, long story lol)

Drove through a shallow body of water about 1/2 foot deep and went up and down a moderately steep gravel road with lots of rocks for about a quarter of a mile or so. I didn't floor it or drive through any crazy rough terrain like over insanely huge rocks or potholes or anything, I drove as steady and conscientious as possible and got back on to the main road as soon as I could. In all it was a 15 minute off-road detour. My front license plate is bent a little from driving with low suspension and my car def needs a car wash but otherwise my car has been driving on the freeway for almost 100 miles since then smoothly with no issues.

Given the fact that I was driving fairly conservatively and for a comparatively short period of time I'm pretty sure the car is fine. But just thought I'd ask for a second opinion. Should I take the car in for an inspection on am I overthinking it?

Honda Civic 1999 power steering leaking?

I realized my power steering is leaking but I'm not sure where from. I'm assuming it's my rack and pinion. So i ended up taking it to a mechanic and he said it's not my rack and pinion it's just my inner tie rods. But I'm questioning if he even knows what he's talking about.
I have a Honda Civic 1999.