Not fully charging or discharging a lithium cell will
definitely extend its life.
Read this entire page at the "Battery University"
http://batteryuniversity.com/learn/article/how_to_prolong_lithium_based_batteries
There are tables on this page to quantify the typical improvement you can expect.
To summarize the way to treat your lithium ion battery well........
1) Never ever allow them to get overheated - period. Heat is the enemy of lithium ion batteries!
2) Never 'hold' the battery at full charge (usually 4.2v) If you want to use the full charge capacity just top up the battery just before you want to use it.
3) Any reduction on the DOD (depth of discharge) will extend the battery life.
4) Avoid ultra fast chargers.
As for not charging a pack up to 100% and therefore not allowing the BMS to balance the individual cells to 4.2Vmax. I would only be concerned if my pack was made from 2nd hand cells of different makes/age. A pack made from the same cells do not tend to drift in my experience. Perhaps a full charge every 10 cycles will allay certain peoples fears?
I'm not aware of any downsides (damage) to cells that are charged to a level below 100% - if I'm missing something perhaps a link to a source of the information can be given?