In the aircraft I fly (747) the yaw damper provides turn co-ordination without causing any movement of the rudder pedals. I think that's fairly common across the Boeing range. The turn and slip indication on the PFD is (so I'm told) not especially accurate. Quite honestly I don't see any need to overcomplicate matters. I only touch the rudder pedals during taxy, crosswind takeoff and landing and in the sim during an engine failure. If Boeing says don't touch, I don't touch.
When I have deviated from SOPs in the past, I try to ask myself whats in it for me. The answer is often nothing.