I'm with Midnight on this one. For 99% of my driving, I use D5 solely which I consider my default. When I'm in the mountains (I have a wicked hill near a vacation home) I use D3. For long downhills I'll often use D4 to keep speed in check without having to brake. I emphasise downhill only, as I leave it in D5 for ascending hills because the transmission will automatically shift to a lower gear when needed.
When I feel the need to shift, I jump into the RSX!