As you say, it depends on the circumstances of the moment. Ghosting along at 2 knots in driving rain is not our cup or tea.. motoring and steering from under the dodger with Otto remote's the way to go. But doing the same on a pleasant warm day with not too far to go is a different thing altogether.
We usually time this sort of thing with speed vs. time/distance/daylight remaining to our destination in mind, so the threshold can vary considerably.
".. there is much you could do at sea with common sense.. and very little you could do without it.."
Capt G E Ericson (from "The Cruel Sea" by Nicholas Monsarrat)
1984 Fast/Nicholson 345 "FastForward"