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LiFePO4 batteries like being charged up high, so you’re probably fine keeping them plugged in.
You’re right about not going under 20% often, but you’ll want to charge to 100% at least periodically to allow the cells to balance.
Edit: Please make sure you’re looking up information on Lithium Iron Phosphate batteries specifically, they behave differently from standard lithium batteries and a lot of the advice shared here won’t apply.
Such a wonderful phone! The pop up camera is so nice for privacy. I got a new phone and gave it to a friend and they still daily drive it happily.