Yes, parallax problems show up on objects near to the camera, such
as the ground. If you only pick points on objects that are a very
long way away then you get tiny distance errors for the points, but
nearby objects can still be 'chopped' when stitching.
If the distant objects are irregular then you can sometimes use just
nearby objects for control points and get a cleaner stitch with less
noticeable errors.
Otherwise you can use masks to control the seam placement for the
near objects, or fiddle with the errors afterwards in an image
editor.
Optimising d,e translation might work and usually gives a lower
error number, but I'm not convinced it delivers better pictures.
If the ground is flat, then you could use XYZ parameters to stitch
the ground separately from the rest of the scene.
--
Bruno