Never charging to 100% is fine, the only thing that might happen is overtime the calibration might get a little out of wack, so your displayed range might not be as accurate. It has nothing to do with the condition of the battery, just how the BMS reads what range is available at a given state of charge.
My situation is similar to yours. In general about once every 8-12 months when I know I'm going on a trip I'll charge up to 100% before and leave immediately when it's full, driving a long distance to bring the battery back down. Again, this only helps to re-calibrate and get my range display back to a more accurate number, and has nothing to do with the condition of the battery itself. We aren't talking about 50 miles magically re-appearing, just a few miles usually pop back on. If you never go to 100% though no harm will come to the actual battery.