Not really, only the heat can destroy the battery.Convenient, but staying always with a charge so high will destroy your battery health in a matter of months.
All the software understand when it need to charge or not.
And because I charge only 3-5%, the heat never go high.
my charging routine is totally different from my wife who charge by Qi every night for all day long, and her battery health go down to 82% in only one year.
i make a bet, if my charging routine is better than my wife.