Depends on why you're stitching (file size? angle of view? aspect ratio?, bokeh pano?), the nature of the composition (especially regarding close subjects), and to some extent on the stitching software. Forum user kh1234567890 has posted lots of handheld panos including close subjects and there seem to be no problems.
I have enough gadgets to do multi-row, but it's been a while since I've stitched more than a single row. Using a panning clamp, mounting the camera at the back of the clamp gets pretty close to the no-parallax point without additional panning gear. But since you have a Manfrotto 410, where the camera sits away from the pan axis anyway, it's possible to get the no-parallax point precisely.
I've been doing some film panos recently, and kind of wish I had a panning clamp with click stops instead of having to eyeball the rotation between shots. But I've just acquired a 6x17 camera so I don't think I'll invest in a new panning clamp.