Lead acid batteries like to be kept fully charged all the time and don’t like to be discharged below 50% state of charge.

Lithium batteries like to be kept around half charged. They degrade quicker when kept at a high or low state of charge. Running lithium batteries from 20-80% does extend the lifespan, but charging to 100% is fine when you need to go on a longer trip. Just don’t keep it at 100% for long periods of time.