I ground mine quite regularly. But it's a swing keel and likes the beach.
No dinghy or wet shorts for me.
The closest I have come to unintentional grounding so far is at night during the Xmas cruise I bumped the rudder on a submerged log. I knew where it was but not where I was. I didn't drop the keel because we were motoring it didn't occur to me that the rudder drafts quite a bit...I only usually worry about the keel.