Battery Life? Short Cycles vs Long Cycles

[slowrunner]

In making my TurtleBot4lite/Create3 robot operate 24/7, I need to design a strategy for when to get off the dock:

• undock only when need to:
  do excursion
  return to dock
  battery will charge to 1.0 after an excursion,
  then cycles while docked - [discharge for ~9 minutes to 0.95, charge for ~11 minutes to 1.0]
  or
• when BatteryState.percentage = 1.0:
  undock,
  perform any needed/planned excursions,
  then sit by the dock until Battery.percentage < 0.2, (one reference says limit cycles down to 50% for best life)
  dock

Or in other words, do shallow cycles or deeper cycles give the longest useful battery life

[slowrunner]

closing - unanswered stale issue