I don't think so. Because my driveway is inclined, I use my parking brake whenever I'm parked there to take the load of the parking pawls in the trans. This includes, obviously, overnight. When parked on the flats I don't use it. I've never experienced any hint that it is hanging up. A couple of times, though, it didn't quite come up all the way when released, but a little chime warned me of the problem and I manually pulled the peddle up the last inch or so. But, even on these occasions I didn't feel any drag.
TC
\'03 Fire Red GMC 2500HD D/A Ex Cab SB 4x4, Leer shell, Husky flaps, Oilguard, Juice, Mufflerectomy, Cat fuel filter, Titan V, Equal-i-zer, Arctic Fox 30U