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Depends.
My driveway: I am usually lazy coming home and I pull in. Also there is usually more traffic in the evening and someone could block me if I went past the driveway to back in.
I should back in more, because backing out in the dark always scares me a bit. It's not about the cars, it's about pedestrians on the sidewalk. Not many of them, but I don't want to hit a jogger or a person walking their dog. The neighborhood is pretty dark, no street lights just those small front yard lamps.
In general backing in is safer (to avoid conflict with vehicle and pedestrian cross-traffic) and also it's easier to do when there is little space.
Parking spots: depends on time, parking spot configuration and size, expected way out, and whether I need access to the trunk. Mostly Pull in. Lazy again.
Of course, parallel vs. pull in/back in depends solely on the parking spot configuration.
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