Mdj... Don't make fast rules for yourself. Do what you find is useful and meaningful at the time.
Like you say, learn from what any mode offers. I never get off Manual mode, except that I will
set my AF lenses to AF and stabilisation ON. No one thing is any better than any other all the time.

CC: You achieved a good and interesting result with that cyclist. Two other things about this pic:
1. Pity you truncated his front wheel (and he probably came a cropper just out of the frame).
2. That blurred car is a distraction here. If you could have avoided it, better.

You must try this again with more space about the rider, so that you can eliminate any unwanted
vehicles.