Richard, you are so right.
If the bottom is decent mud, not the sort you would want to walk in, you will get a good cushioning anyway even if there are a few larger chunks of rock about.
If the water is clear you will have peace of mind and can even walk out the anchor. It is very satisfying to head to the shallows on a falling tide, descend into the sea (seasonal water temperature permitting) and walk around to check.
I do enjoy leading the boat by hand, a bit like leading a horse.
A great trick when you are very shallow and want to set off, having raised the anchor, is to leave keel and rudder fully up, and push firmly on the transom as you walk on the bottom. Once the boat is moving you can climb up your stern ladder and keep going. At low speeds you can steer with the rudder floating horizontally, so lower the rudder until it floats, start the engine and off you go. Lower the keel a little once you have sufficient depth.
If you know the south coast, examples of places Parkers and Seals like to dry out include: Bembridge harbour entrance, East Head, Wooton Creek, Ryde, Gosport Cruising Club basin, Newport, Eling, Beaulieu, Newtown, Keyhaven, Studland (before new restrictions), Poole Harbour, Looe and Gweek.