Several previous posters have said that "it's faster not to charge to 100%." That is NOT always true.
While it is true that it's always faster to begin charging at a lower State of Charge (SoC), if starting out from home or a destination charger with a higher SoC (not necessarily 100%) allows you to skip one or more SuperCharger (SC) stops entirely, that will be faster.
After leaving for the day, only charge long enough to to reach the next SC (plus whatever margin of safety you've comfortable with).
While it is true that it's always faster to begin charging at a lower State of Charge (SoC), if starting out from home or a destination charger with a higher SoC (not necessarily 100%) allows you to skip one or more SuperCharger (SC) stops entirely, that will be faster.
After leaving for the day, only charge long enough to to reach the next SC (plus whatever margin of safety you've comfortable with).