In the days when I was practising piano scales I didn't consciously visualise the keyboard, scales just seemed to fall under my fingers. (In fact I used to prop revision notes for my O levels and A levels on the music stand and learn them while playing scales so I wasn't looking at notes, keyboard, fingers or anything music related).
BUT when I started playing the oboe I found that I needed to visualise the keyboard in my head before I could play the scale on the oboe

This has got better over time (although I still can't manage G# minor without thinking of the keyboard first).
Going back to piano scales, I used to play all possible scales starting on any given note (so to take your example of "D" I would play D major, D harmonic minor, D melodic minor, (similar motion, contrary motion, a third apart, in thirds etc.) chromatic scale starting on D, major and minor arpeggios and diminished and dominant sevenths all starting on D). I had a scale plan with different scales for each day of the week (to make sure I covered them all in the space of a week) but (since I was something of a scales addict) if I'd finished the scales for the day and wanted to play more I'd just play whatever scale I felt like.
My oboe teacher said that playing all the scales on a given note is a typical pianist habit and on wind instruments it is better to play the major and relative minor together.