Moving a regular Unity primitive and PhysX performance

It seems that a regular Unity primitive (ie, default sphere, cube, etc) are all static colliders as defined in: http://unity3d.com/support/documentation/Manual/Physics.html

But, the manual mentions that you should never move it directly on a "frame by frame basis" due to issues with PhysX. Instead, you're supposed to turn that into a kinematic rigidbody...

I guess my question is basically:

Should everything that might possibly collide but is moved by script be a kinematic rigidbody?

Does this apply to all platforms, or just NVIDIA ones?