Yes but - it's still true (for me at least), that XHTML is far easier to construct automatically. Mostly due to the tag-closing behaviour.
I don't spend all day writing HTML, so it's not at the forefront of my mind which tags are self-closing and which ones aren't. Is it "<br>" or "<br/>"? And really, why would I care? And ever more really, how much of that behaviour can I be bothered putting into automatically-produced output, rather than just simply putting the "/" everywhere?
If I cheat and serve up XHTML-like tags under a text/html mimetype, then nothing and nobody cares (as far as I can tell) except for the W3 validator.
C.2 Empty Elements: Include a space before the trailing / and > of empty elements, e.g. <br />, <hr /> and <img src="karen.jpg" alt="Karen" />. Also, use the minimized tag syntax for empty elements, e.g. <br />, as the alternative syntax <br></br> allowed by XML gives uncertain results in many existing user agents.
C.3. Element Minimization and Empty Element Content: Given an empty instance of an element whose content model is not EMPTY (for example, an empty title or paragraph) do not use the minimized form (e.g. use <p> </p> and not <p />).
I guess I don't really understand this; best practice in HTML is to close tags and quote attributes just as in XHTML. The only difference is XHTML requires it.
As for self-closing tags, the only one I use, at all, is <img>, and I'm perfectly OK with having to handle that (largely because I don't; there are already libraries which will generate my HTML for me).
If you're using a serializer to write your document, it doesn't make any difference whether you serialize to XML or HTML. If you worry about where to put a '/', you should most likely be using a serializer instead of whatever you are doing.