Leave it ON all the time. Your transmission is programed to use it only when traveling at the correct speed, hence the name "automatic"
Back in the early days of auto overdrive, there were some driveability problems if you were traveling at the precise speed where the trans wanted to go into O/D, it would go in-and-out of O/D (with a clunk) until you either sped up OR slowed down.
Todays modern transmissions don't do that. Leave it on all the time.
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