Parking brake can be vehicle dependent on it's propensity to stick. The newer vehicles of today have either electric actuated brake or the cable system is much better than of days passed. In older vehicles the parking brake cables were not sheathed and prone to rusting or sticking at sheeve and pinch/attachment points.
Personally, since all my vehicles have an automatic transmission, I don't use the parking brake except if I'm underneath and working on the driveshaft or rear end. If I'm towing and am worried about roll-away, I use a chock(s) against the tires.