First of all, to master test automation, in my opinion, certain level of programming skill is must. They so-called scriptless and record-n-playback test automation tool has been around for over decades. The fact of Selenium WebDriver dominates web browser testing proves that (Selenium WebDriver comes with five different language bindings). If no programming, I don't think test automation is possible, and definitely no fun doing test automaton.
PWTA book is a guide to develop maintainable test scripts (maintainable test design + test refactoring), and it requires efforts to get familiar with Selenium WebDriver as well. Are you reading the latest version of PWTA. In second edition, I use Selenium WebDriver with TestWise Pro. If you spotted mistakes in the book, I would like to hear it. (you may use contact author on Leanpub).
In terms of tools, I used TestWise to introduce test refactoring in the book, I maintain thousands of tests daily using TestWise. Selenium WebDriver is text-based and open-source, testers are free to use any tool/IDE/plugins, but the main point I want to highlight here is productivity. When we dealing a large number of automated tests, with any changes can break many tests, extreme high efficiency is critical. If you find a tool/editor/IDE that you (and more importantly, your team) are comfortable with maintaining test scripts, go for it. That is the beauty of freedom.