Trojan guide also says use 20% on AGMs
To clarify how that applies, remember that with Wet or AGMs (pretty much the same for this aspect) at a 20% charging rate, you will hit a mid-14s Vabs in the mid-70s percentage of SOC, then amps will taper and you are no longer at 20%
So if you are above say 75% SOC there is no way to do the 20% rate.
Starting at 50%, you do about half the recharge in Bulk and the rest in Absorb. That last half takes a long, long time. How long? "It depends."
If you go to a higher charging rate you hit Vabs at a lower SOC so you would have a shorter Bulk stage and have to be lower in SOC going in to see a Bulk stage at all. EG at 32% rate, you hit Vabs around 65% SOC. That boat guy in his test using 40% on an AGM hit his Vabs at 63%.