Nope. Won’t harm a thing. You just lose the lock up torque converter function which will reduce fuel mileage.
If the TCC solenoid is sticking causing the engine to stall at idle, you might try this. Purchase a can of SeaFoam TransTune and add a half a can to the transmission fluid. I’ve had good luck unsticking TCC solenoids using the SeaFoam.
Tester