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Any vehicle i have owned (automatic tranny) I always drove with the selector in overdrive, It does not kick in until you reach about 85 km or 55 mph, so until it reaches that speed you are just in drive anyways, However if hauling a load especially in hilly areas to be safe i'd run it in drive.
I agree with stonem77, under normal conditions, always go with OD. I've know some people that leave it in "D", and when they get on an interstate, they don't realize it until they are doing 60mph and 2700rpms... then they finally put it in OD.