Generally the subject of my photography doesn't lend to tripod use. It's been maybe once with a borrowed tripod on landscape outing, and a few times for still life on 5x7". Otherwise I have my own "program mode" when operating handheld camera.
When the light is available in excess, I establish the zone of focus desirable, step down accordingly and set matching shutter speed for exposure. If it happens to slower than 1/f, or 1/(2*f) with long lenses, I would try to open up aperture a bit. In ideal case however, the shutter speed will max out shutter speed dial on my camera (1/1000s): this assures virtually no motion registering, be it subject or my hand. Am confident that at the top speed with a normal lens, the negative will hold more detail than my scanner is capable to capture.
From that, as light fades I gradually open up aperture trying to maintain speed around 1/f, and when at the widest opening, slowing down the shutter too. The ratio of acceptable sharpness goes down quickly from there, but I would still rather try taking a shot even at 1/2 second handheld or bracing a support - sometimes it turns out surprisingly nice.
This sounds a lot like aperture priority mode on automatic cameras, but the virtue of doing it yourself on all-manual camera is the multitude of subject- and light-dependent exceptions to the general rule that you soon learn to recognize and implement.