Remote Access delays or sleep does not mean the car is asleep. There are times when the car is still awake with doors open, screens all lit up, and I am right next to or right inside my car, I still get Remote Access delays with my phone app.
You know your car is not asleep while charging if you can have an audio recording while it's charging. It would pick up quite a few noises like the HVAC, clicking sounds... while your Remote Access might be 30 seconds delayed.
Tesla has made its sleeping routine automatic so there's no need to manually adjust when it should sleep.
For practical purposes, it doesn't make any difference in your battery longevity.