I listen to CDs in my car, which has a very nice Harman/Kardon sound system.
I render everything from multi-tracking to mix in 24/96. Mix goes to analog 1/2" at 15 ips, then goes to WAV for the mastering house.
Someone mentioned that there's no point to it because we can't hear above 20khz, but that's not my understanding. More bits results in a smoother sound, especially for high frequencies, if the sound system is up to par.
I've never A/B'd MP files vs. WAV or CD on my home computer, but the speakers are so bad, I doubt I could tell the difference. On my studio monitors, the difference between those formats is audible, and 24/96 sounds best.