I'm used to caring for lithium batteries because I'm into the RC aircraft hobby. The batteries last longest when stored at around 50% charge; especially avoiding prolonged periods at the extreme ends of high/low charge.
"Normally the car will charge when it is about 3% below the charge limit."
What charge limit are you referring to?
Yes, your experience is applicable to this as well, which is why the cars don't automatically fill to 100% all the time when they are plugged in; that would be unhealthy for them.
So what they have on the charging screen is that you can pick the limit of how full it will charge up. There is a picture of the battery there, with a little slider mark, and you can set that limit. The section from 50% to 90% is marked "DAILY", and the 90% to 100% area is marked "TRIPS". So a lot of people set that limit somewhere around 70 or 80%, to find a good balance of being near the middle for good battery longevity, but still having enough range to practically use the car.
There isn't really a benefit to intentionally running it down low, but it won't matter if you go at day or two in between charging. As long as you're mostly avoiding those really high and low ends for the constant daily use, that's good.
And if you have some cheaper electricity rates at night, you can also pick a charging start time, so it will only recharge once per day, during your cheaper overnight time window.