Yes, it will. How much is debatable, but leaving the car sitting at 100% for hours is absolutely bad for the battery and, generally, unnecessary.
I do exactly what the OP describes before a long trip. Charge to 90% overnight, then bump to 100% on the phone 2 hours before departure. After almost 90k miles on my S, I've lost <4% capacity.
Honestly, nobody know what 100% mean, because there are buffers on the Max and the Min to protect the batteries.
This is the kind of test that
Bjørn Nyland performs, has he noticed that some cars continue to charge a little bit after reaching 100%.
(He was looking at the display provide by some CCS superchargers, but Tesla don't provide any information, but I read that they might have to.)
Then Bjørn Nyland started to drive the car, and the battery capacity display was still at 100% for a while before it started to drop.
So he was then estimated the real capacity of the car.
I guess, you might be referring to some phones who cannot really communicate with the charger and the battery might overheat.
In the case of Tesla, I would recommend charging at 95% just because you lose some of the braking generation benefices.
But if you are going for a long trip, just charge then at 100% if you are going on a freeway and would not really need to use your brake.
But for city driving commute, generative breaking is more comfortable.