I'll scrub as long as I can do it fairly smoothly - lawn, dirt, gravel, tot lot chips.
If the ground is too rocky, uneven, then I'll raise up to what ever it takes to get a good sweep.
If using a coil cover, I have to remove and clean the debris more often that can find it's way between the coil and cover. I have had dirt with enough mineralization to skew smooth operation. I usually use the stock coil & Sun Ray X-5 Stealth coils on my EX-II. I could seal it or go without, but it don't bother me. I have a couple of coils for some other detectors without covers and I have never actually wore one out. Have a couple that got scratchy looking, but they still work fine. One of my coils for another detector (spider-spoke design), I had sprayed a few coats of bed liner material that is used for the truck beds, on the bottom of the coil. Did not notice any negative effects and it has held up well so far, but I don't really use that detector & coil much.
I have had a couple coils bang out a tone when it was bumped. Have to be a little more careful with those, or get new replacements if they are annoying enough.
From years ago, the detectors I had didn't get great depth, so I had got into the habit of scrubbing the ground whenever I can - and still doing it without any thought. Just wish the silver coins were more plentiful like years ago.