I hand water as necessary. My gardens aren't to big, or too overwhelming and I enjoy doing it. In fact, I rarely use any kind of sprinklers, because I like standing there holding that hose. Might not be the best, but that's OK. I don't water my grass, but will water my trees during extreme drought, and water any gardens that seem to need it,
Also, I have a leaky bathroom tub faucet, and I keep a bucket under it. That water also goes out into the garden every day (was supposed to get it repaired this spring, but the money got spent elsewhere)
As for watering during the day vs at night - I have read that it will cut down on mold & mildew, because everything doesn't stay wet and damp all night long. During the day, things have a chance to dry out before the temps drop and the dew settles in. Me, I water when it is most convenient - but during periods of high humidity, I do make more of an effort to water earlier in the day. I have even seen mold on my grass when it is too wet & cool out.~Jan