Well actually no, the battery health is counted in charge circles, so if you charge from 0 to 100 it is one charge, if you charge from 50 to 100, then again from 50 to 100 it is again one charge.
Other than that when you use the battery and let daily to reach 0% it may be over discharged and start creating crystals damaging the battery, the battery would never actually be under 2-5%, but why stress that battery? I’m charging my devices at 20% and it helps with the battery life.
Also if you want long, healthy batteries you shouldn’t charge to 100 as not to overcharge but who does that?