When I park in my driveway I never use the parking beak. When I take my foot off of the break and I am in park the call rolls back and pushes on the suspension a little bit. Could this cause any long term problems with my A4, or should I continue to not apply the parking break and not worry about it?

 

Your car is resting on the gears, not the suspension.
Don't know if there is any long term harm, but why not just use the parking brake as insurance against that, it's not like its a difficult thing to do.

 

Not to mention holding the car with the handbrake and then putting it in park helps when you go to leave - you don't abuse the gears by "tearing" it out of park.