I don't have Exos, but IronWolf Pro. I disabled head parking out of habit. I've been doing it for a decade at this point and never regretted it. I'm pretty much on the fence though.
The weird thing is that even after disabling Idle B, the heads still sometimes park. I see the load cycle count occasionally go up and I'm pretty sure I've heard it. It happens much less often than before disabling Idle B, but it's still happening, nonetheless. Obviously, I'm not counting the load cycles happening during restarts. I'd like to know why.