Welcome.
You are saving gas with your strategy. Do you have a baseline figure so you know if you've improved?
No wear comes from shifting to N, or shifting to D at a stop. I am pretty sure that almost no wear comes from doing it at speed; however, if you want, you may want to try to rev-match. This means you give it just a tiny amount of gas as you're shifting to D, just enough for the engine to rev up to the same RPM that it will be going once it's in D. In most late-model vehicles, I suspect that you'd have to be going more than 50mph to even be concerned with it, since at lower speeds your RPM in D will be close to idle.
What is your vehicle?
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