Yaw damper / rudder servo and CWS

What's the consensus on control wheel steering (CWS) and the yaw damper / rudder servo?

The G3X offers the option of only disconnecting pitch and roll when using CWS, and keeping the rudder under the autopilot's control.

Do most people disconnect all 3, or leave the yaw engaged?

For what plane? I wasn?t aware of a Garmin YD system other than for the RV-10. But for the purpose of CWS, seems if you left the YD engaged you could leave your feet on the floor.