I was taught to keep the stick fully back during taxi AND when beginning to roll. The reason being indeed to reduce load and stress on the nosewheel and whatever carries it.
And keep it back and back until the nose wheel lifts off, from then on keep the nose pointing up as much as it does during initial climb-out. When all three wheels are off, push a bit more forward to gain some speed and retract flaps.
This is about a three-axis microlight, a typical 80 HP Rotax-powered two-seater. Mostly operated from grass. But I can see no reason to operate heavier planes differently, nor why a hard runway should make any difference. The philosophy of take-off is to be as high as possible as soon as possible, to have maximal options when the engine quits. All the while avoiding stalling, of course, by keeping sufficient airspeed.