I have beached all of my boats. Only at places where I know the bottom is sand. My first boat was beached at least twice per day (to get or put away the truck during launch/retrieval) with no ill effects. Always slowly and then I used forward throttle to "dig a hole" for the prop.
This does put a lot of debris into the water, so you must check your impeller often (though I never had an issue with that either).