File departure procedure?

I fly into (and out) of two Class B's pretty regularly - Houston and DFW. I always file with a DP or SID just because it gets me a simpler clearance, and even sometimes "cleared as filed".

Of course I don't ever remember actually flying a complete procedure - small piston airplanes usually get "vectored" through the procedure fairly rapidly and then, when departing, if lucky once out of Bravo airspace the beautiful "cleared direct destination".
 
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