Just to clarify,, if you have to leave it stored don't fully charge. But then you might be much better off to fully charge just before the trip to avoid using that last 10%. I have no idea if using the last 10% is super harmful, but my experience is using that last bit is usually going to unbalance the battery faster. I just feel in my gut that a battery that stays balanced means it was not abused, and should last longer. And, its just convenient to not need to balance any more than 4 times a year.
Dnmun is right I think, anything that makes your battery heat up damages it. So if using that last 10% gets it hotter than body temp, that's not as good as a cool battery. If you must use that last 10%, slow wayyyy down, creep home, and keep that battery cooler.
IMO, some smart folks including car makers will set up a system that both never fully charges, nor fully discharges. This is because the typical user is just going to plug it in, then the next trip could be hours away, or days. So that sitting there 100% charged will harm the battery. And on the other end, they know you will go till it stops. So they have to protect the battery from the user, essentially. In the process, leaving a lot of range on the table. So the battery has to get bigger. We may not want to carry that much extra battery on a bike. Expensive, bulky, and heavy.
But here, we are assuming we are talking to a different kind of user. One who can get information, and then make his own decision what to do. For me, the EM3ev charger has been incredibly handy. If I expect to ride in the AM, I charge to 4.1v. The next morning I flip a switch and it finishes the charge. If I don't expect to ride for awhile, I can again flip the switch and just charge half full for storage.
You can do the same thing with RC chargers, but it's not as convenient to switch from lipo setting to lilo.