Thank you, Erik, Bjørn and Ilkka, for explaining the use of AF-On button.
I haven't used VR lens extensively, but I now understand how the half-pressing the shutter would potentially cause problems.
Personally I've had no problem with the half-pressing because this is what I've been doing since the film days (A mode and AE lock by half-pressing the shutter button, but, hey, there was no AF or VR!). But I've had the problem with the AF-S mode because of the AF errors. Often I have to re-half-press the shutter button to re-activate the AF. If the AF-C would mitigate the problem, I will try that mode. Also, the automatic compensation of the focus shift would be fully welcomed (if it is true).