Yes hard on them I've been told by lots of folks. I was 3 1/2 miles away from work. That one reason why I've got an 01 with 80,000 miles on it.
I used to take it for a longer drive about once a week. And at least once a month took it for a longer drive lasting about an hour. Being you can go a long time on tank of fuel I always filled it up when on 1/2 and ran a biocide. Didn't want fuel sitting for long time as not uncommon in my area for people to get "microbs" or fungus going in fuel system. (Ask around in your area for better advice on running a biocide)
Over all the only long term effect I attribute to not using much far (15 years old now) is a water pump that went out at 65,000 miles.
And a truck that is still getting "broken in" in many ways but has most of the valve is gone due to age.
The other thing I would caution is make sure your keeping track of maintenance schedule by mileage and time. Fluids might need to be changed by time not miles.
Maybe different with newer ones but in winter gauges wouldn't even move before I was at work. And sometimes a cold 3 1/2 miles.
2003 Majestic 23P... Northwest travel machine
2013 Arctic Fox 25W... Wife "doll house" for longer snowbird trips
2001 "The Mighty Dodge"... tow vehicle for "doll house"