What testers want-
Let me start with a little personnal history. After driving off and on for several years, I was out of it for near 25 years then found myself out of work. With a little grant money, I took a CDL course via a reputable school to update myself and get the CDL which I never had. This is what the instructors wanted: Upon approaching a stop, a few downshifts then braking without any shudder with the clutch disengaged (out). At the last possible moment, push the clutch in, then hold it in all the while at a stop. They wanted the next gear selected once stopped. Then, hold the clutch regardless of the time frame.
Now on the practical side, there are two schools of thought on this. Some drivers feel that at a stop with the clutch engaged and truck in gear, should someone rear end you, you might lurch forward, hitting someone else. Others feel that you might forget to put the truck in gear and drift backwards. Or, that you might not keep pressure on the brake and drift backwards. Depressing the clutch keeps you more focused.
After 14 months of driving again, I bagged it back in October at least for awhile but thats another story. Anyway, as long as the truck I was driving would allow it, I would put it in neutral and leave my foot off the clutch at a light. Once the light went yellow, I would depress the clutch and select my gear. Coming to a stop on a really rough surface, I might throw the transmission into neutral and rely simply on the brakes for better control. Lots of variables. This was with a single axle with pups, loaded nose heavy, empy, light, you name it. I vary my technique to meet the needs. Basically though, holding in the clutch is hard on my sciatic nerve.
Some more thoughts here. When I was training on doubles, we had a brand new tractor that neither I nor my trainer could hit tenth gear on without protest while upshifting. We figured out that you needed to clutch to get it out of ninth and into neutral but go clutchless to drop it into tenth. I drove that truck at 90K one day and it was still like that, go figure.
I would think the transmission can stay stiff for many miles depending on the usage but after five or ten K, with the clutch working, the brake should prevent grinding at a stop.