With no SAS/helipilot/whatever, I always keep a little friction on the cyclic. I don't like the sloppy feel without it. I also don't want the cyclic immediately falling over if I take my hand off it. I keep friction on both controls - not a huge amount, but enough to keep them from moving without input. It has worked for me for 40+ years, but it's certainly a subjective decision, and whatever works for you is fine with me. I think one can get used to anything, and if you fly an IFR ship you'll absolutely have to learn to live without the loose cyclic.