No need to put in P or N on junctions even if you have to wait for a while. Leaving in D will not damage gearbox, only downside is a bit higher fuel consumption as engine have to use a bit more power to turn it self and gearbox rather then just itself. But switching in neutral will not harm either as oil pump in gearbox is working and circulating oil regardless of which position lever is.
Clutches only wear out if they are slipping because of other faults like low oil pressure which can be caused by leaking seals, low oil level, clogged filter ect.
The slippage you experience is most likely the one in torque converter which is normal but it's hard to say without actually seeing it in person.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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