It's been a long time since I've drained my black tank when it was full. When camping, I dump it about every other day. Yea, it's not full. But, with a Flush King attached and both black and grey water coming out the same port, I always back-flush the grey into the black after initially dumping the black. It always works. Look in the hole of the toilet with a flash light and the bottom of the tank is clean. I can see the pop-rivits right under the hole in the bottom.
So... you really do not have to wait till its full to dump... but you do need to flush it out, with either a built in flusher sprayer, back flushing, filling the tank via the toilet with water, or using a flush king system to rinse the tank. That back-flushing really pulls out more stuff, even when the tank (is) full.
To answer the OP's question. Leave the tanks closed until ready to dump. Do not leave them open. Water will drain out leaving solids behind ... even with your grey and kitchen water water.
You can drain any time, but keep it closed until you do. And if you drain before the tank is full, rinse or backwash the black. You'll never have problems if you always back-flush.