I've gone caseless with every single phone I've owned since the Lumia 920. With Samsung, that includes the S7 Edge, Note 7, Note 8, S9, and now the S10. There's no going back... the aesthetics and feel are addictive. I'm always surprised to hear that people are experiencing problems with accidental touches or problems related to the curved display. Makes me wonder if I'm just more used to using them since I've been used to going caseless for so long.
At worst, I've had barely noticeably scuffs here and there over the years, which actually bothers me when they happen, but I have to look really hard in bright lighting to see them. But no serious drops to speak of.
That said, I always make sure to purchase at least one case for really active days or traveling.