Most of this is speculation based on observation and what I've read about the INTREPID ClassIntrepid-class. These ships were designed to provide an advanced long range exploration platform. That in itself says "we are on our own", thus being able to have the diversity not too rely on sensors and away teams for in-depth exploration might make grounding a must.
Also, if we follow on from my initial point that the INTREPID classIntrepid-class was conceived for long range work, it is much easier and safer to replace a warp coil in shirt sleeves than in environmental suits in space, regardless of how comfortable.
Furthermore, it might be useful for a badly damaged ship to ground to make long term repairs, or if necessary, to allow a crew to set up a survival colony on an M-class planet, using the ships useful surviving components to assist in providing for the survival, security, and comfort of the crew.
That being said, the fact that this class of ships did not have the capacity to separate the primary hull from the secondary hull, as previous classes of Starfleet ships had. The CONSTITUTION ClassConstitution-class was capable of this but not rejoining itself. This extraordinary step might have been necessary to save the crew from a warp core breach, or other reason, thus grounding would be very useful.