As usual, it depends...
... on specific layouts and personal preferences.
Our first two boats had lower helms from which visibility was relatively poor (to my mind, anyway). I drove from the lower helms only once in each and only for a few minutes to see how it was. I did did all my driving from the bridge. The bridge of our first boat had only a bimini but the second boat had a full enclosure from which we removed the side panels during the best-weather months.
Our current (and last) boat has a bridge with only a bimini and a wheelhouse with much better visibility. We're only just going into our second season but, so far, I have been doing all the driving from the wheelhouse. Opening all or half of the dutch doors on either side gives plenty of "open air" feeling. I drove from the bridge once (in berthing) to see how that was. Much better situational awareness when manoeuvring in close quarters, so that will probably be my habit going forward.
An unforeseen (but now obvious) benefit from doing most of the driving from the wheelhouse is that we don't need to haul a bunch of stuff (paper charts, binos, handheld VHF, reference material, etc. not to mention snacks and beverages) up and down to and from the bridge.