I certainly never leave the handbrake on when in the garage - I've had many cars over the years that do what you've described; gave up handbrake use where not necessary a long time ago. I just leave the car in gear.
nick
Same here...
...and will also add that it is best to make sure that the brakes are dry before you parking up for a few days or more...so, don't wash the car and wheel it into the garage with water on the discs.
