I have a wireless charging stand at my desk at work that my phone is usually on. Do you think it would hurt the battery to repeatedly take the phone off the charger to respond to a message and put it back on?
Shouldn't be a problem, I find this to be one big benefits of wireless charging, by parking your phone on the charger when not in use means you could end up with 85-95% by the end of the day!
From what I understand, draining the battery to full and then charging it top full hurts the battery more than what OP is doing. At least for cars anyways.
The last 10 years I have been using any battery operated devices from music player, smart phone, to laptop... I have always top off my devices when I can regardless of battery level at the time. I never had any issue, at least to me.