The lower the rate, the better for the battery. If you're in a hurry, alternating between 10A and 2A will be better than straight 10A. Charging is moving electrons around and too much current will make heat instead of just moving the electrons. You can't force those electrons to move faster than a certain rate.
I wouldn't intentionally do a full discharge. You can estimate how many wh/mi. your setup uses and then make ballpark assumptions about max range. If you do happen to discharge them deeply make sure to take advantage of that data point, though.