Thanks for all your comments.
I have driven cars with auto boxes in the USA and always left the selector in "D" and just held it on the foot brake. During my test drive in the Mazda I adopted the same approach. As the link provided by John Boy shows, the box in the Mazda is more of a hybrid.
I have found the owners manual on the Mazda site, but it does not cover the matter regarding being stationary while in drive. As mentioned by Runfer D'Hills, the car does have a "hill hold facility" when the foot brake is applied.
The "Quick start guide" shows that the selector can be freely moved between D & N, whereas to move from P to D requires the foot brake to be applied and the lock-release button to be held in.
I was thinking of trying to drive the car similar to a manual, so when I expect to be stationary for some time, with the foot brake on, I engage the hand brake and select N. When I want to move off, select D and release the handbrake.
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