If I know I need may need to pull off quickly I just knock it back into sport while waiting which turns off the stop start and then back into drive once I've pulled away. Really takes minimal effort to move the gear know one click back. The stop start bothers me alot less in the edge than it did my focus St.
I just leave mine in drive otherwise at lights with foot on the brake. Really don't care or take any notice if others do it. The only time I ever use the parking brake is when leaving the car when I put it both in Park with parking brake on.