First, don't be afraid to travel and don't be afraid of charging to 100%. That's what Tesla designed the car and battery to do.
When travelling, to reduce charge times, you want to be as low as possible when plugging in. And you only want to charge to over 80% when you absolutely have to. This is not to maintain the battery, it's because charging above 80% takes forever.
Use
A Better Routeplanner to get an idea of what your charging should look like. It comes really close with the defaults. But don't assume that you have to follow it exactly. The car navigation will do an awesome job of keeping you safe. It will tell you to slow down if it feels that you aren't going to make it to the next charger. But it is very conservative.
When travelling, plan your biology stops around charging stops. It usually takes longer to eat than it does to charge. If you do them at different times, it makes for a long trip. I've done 500 mile trips where I only needed an additional 15 minutes for charging. The other charging stops were more focused at filling my belly.
Charge to 100% before leaving the house.
The issues with charging to 100% are ONLY around long term charging. Studies for other batteries have indicated a 1-2 percent degradation after staying completely charged to 100% ALL THE TIME for a year. Periodic charging to 100% is actually good, it allows the batteries to equalize and the computers to recalculate the range.