I've got a ZF and I use the paddles about 80% of the time.
The paddles are far from being useless, they give you engine braking... one more reason to hear your engine rev and as a bonus it saves your brakes!
When you're in Auto the problem is that you have to choose between a reactive gearbox and a comfortable ride.
When you're in manual you can have the best of both worlds.
But if it’s a ZF auto with paddles, I take it I can still drive it in Sport mode using the paddles so it’s kind of like an assisted manual?
If you put it in Drive, by default it goes into auto mode. It will shift between gears early so you don't waste too much fuel. The suspension will be set to the most comfortable setting.
You can still use the paddles whenever you need/want to, they take precedence over whatever the computer decided to do. It will then remain in manual for a few seconds, after which it'll go back to auto.
It's a great mode when you want the car to be quiet or to cruise on the highway.
If you put it in drive and press the sport button, it will let the engine rev a lot higher before switching gears. The suspension will be noticeably firmer. Here again paddles work just like in regular auto. The gearbox is nice and reactive, it's a great setting for spirited driving, but sometimes it isn't great on the highways because it tends to stay in a lower gear and be louder. I find it to be great also for traffic jams, you can use engine braking to mostly drive without pressing the brake too often and it is reactive so you can reaccelerate quickly.
Last but certainly not least are the manual modes.
To get the gearbox in the full manual setting you need to push the lever to Drive and then push it sideways towards the + and - signs.
Then the gearbox won't shift until you press the paddles (or reach the rev limiter, depending on which car version you have). You can also push the gearbox lever forward and backward to change the gears, if you prefer using this rather than the paddles.
Sometimes depending on your driving position using the lever instead of the paddles can be useful, I personally use both.
When you're in auto you can choose to press the sport button which will give you the possibility to have the suspension either soft or firm
Personally most of the time I'm using the manual mode with the comfortable suspension setting.
Try all the modes and see which ones you prefer.