While playing notes with your 3rd, 4th and 5th fingers. How should I approach this type of trill?
I would begin perhaps by performing the trill whilst also holding each different finger (3/4/5) successively, with a light touch (do not apply pressure to the keybed with the held finger) and through different rhythmic permutations....
you could do that.. though if there is any requirement to voice the notes the finger control will ultimately be required even if the notes are released immediately.
It was just a shock for me to realize how much I had been holding in what I had played before that at closer examination didn't require physical holding at all. That's, probably, why I am now a little obsessed with the idea of avoiding it.
P.S.: Another idea for the OP: "Holding" is "resting", not physical tension.
And may I ask, why would this technique damage my hand if done improperly?