IMHO it's a very good idea to know how to float gears...with my T-19, I could float every gear going up and going down (except Neutral to 1st or Reverse at a dead stop
), and sometimes when my back/leg's hurting too much to push the clutch pedal down repeatedly, I'll even float gears with my ZF.
However, I've always been told that floating a syncro'ed tranny is very bad for the syncros...it'll make them wear down very quickly, especially with a ZF (and, to a smaller extent, with the T-19 as well). So...other than learning how to do it (and, maybe the occasional practice so you don't get too rusty), I wouldn't recommend floating gears except in an emergency.
That said, I drove my truck over 200 miles once, with a bad clutch slave cylinder (not holding any pressure and dumping fluid at a high rate)...I had to be very careful, but I was able to do it...fortunately, the starter had enough power to crank the engine with the truck in gear and the clutch released
and people wonder why I advocate gear-reduction starters so strongly!!