How often to disconnect from shore power

There are a lot of ways people use to maintain batteries. What I do during the camping season I wait until my batteries self discharge to 80%SOC then fully recharge them. In the winter storage season I fully charge when I winterize, disconnect the negative cables and the batteries are good until spring. Most batteries fail from under charging when sulfation builds up on the plates, but I think plates last longer(less lead shedding) if not left to charge constantly.