Any time there is any "rubbing" on your paint, you're going to degrade whats there regardless, even by the tiniest fraction.
In my experience, I have not really seen any ill effects of a waterless or rinseless wash on my car. I have been using UWW+ for a long while, and never seen any real negatives to it. I am sure the new Pinnacle will be the same. Perhaps maybe the Pinnacle because of the carnuba content might have a tad more protection, albeit not very much!
Can't wait to try my Pinnacle comes in the mail today!