It is entirely true that charging power in kW is greater at lower (but not lowest) state of charge and decreases as battery becomes more full.
On our long supercharger trips, we range charge to 100% to start, and then drive as rapidly as laws (and sense) allows till the next charging location, however, if the opportunity to skip a station is available, there is a decision that potentially needs to be made, slow down and skip a charger, or not. Generally, I skip if I can get to a charger with 15% SOC (on a Tesla S85) at goodly enough speed (note the bold). If I cannot maintain speed by skipping, I stop at the next charger, as it is almost always true that the charging rate is greater than the travel speed in my experience.
We also range charge at superchargers when we are taking a long break such as lunch, dinner or a nerf football game in the parking lot. ;-) We never range charge if we don't have to though, as that is a time waste if you need to get on the road.
My family travel rules : Always range charge to 100% before starting a long supercharger enabled trip, and for long stops (as above) and range charge whenever you stay at a destination charger overnight.
We have range charged our 2013 Tesla S 85 hundreds of times, and have almost no battery degradation (<3%) after ~100,000 km.