Hard to say exactly as they don't exactly record how often songs are sung.

That said Panzerlied was a song that's supposed to be specific to the Panzerwaffe arm, which was always only a small fraction of the Wermacht. It consisted of around 20 Divisions at any given time out of an army of over a hundred Divisions.

Moreover many armored units were technically outside of the Panzerwaffe too. The Waffen SS's handful of armored units were separate from the Panzerwaffe, as were the Stug battalions which were technically artillery units. Many of the self-propelled gun units were also artillery or panzerjaeger as opposed to "panzer" units.

That said the Panzers were a very popular arm within the German Army and were seen as apostles of modernity; so it's not out of the question for non-Panzer units to sing the song too. That said it would be rather weird for infantrymen with no trucks or tanks to start singing about driving or dying in an iron tank coffin.