According to battery university.com, the answer is usually "no". That is certainly in line with my own experience.
"............Sulfation occurs when a lead acid battery is deprived of a full charge. This is common with starter batteries in cars driven in the city with load-hungry accessories. A motor in idle or at low speed cannot charge the battery sufficiently.
........Lead acid must periodically be charged 14–16 hours to attain full saturation."
http://batteryuniversity.com/learn/article/sulfation_and_how_to_prevent_it
"..............The correct setting of the charge voltage is critical and ranges from 2.30 to 2.45V per cell. Setting the voltage threshold is a compromise, and battery experts refer to this as “dancing on the head of a needle.” On one hand, the battery wants to be fully charged to get maximum capacity and avoid sulfation on the negative plate; on the other hand, an over-saturated condition causes grid corrosion on the positive plate and induces gassing.
To make “dancing on the head of a needle” more difficult, the battery voltage shifts with temperature. Warmer surroundings require slightly lower voltage thresholds and a cold ambient prefers a higher level. Chargers exposed to temperature fluctuations should include temperature sensors to adjust the charge voltage for optimum charge efficiency. If this is not possible, it is better to choose a lower voltage for safety reasons.................."
http://batteryuniversity.com/learn/article/charging_the_lead_acid_battery
"............Sulfation occurs when a lead acid battery is deprived of a full charge. This is common with starter batteries in cars driven in the city with load-hungry accessories. A motor in idle or at low speed cannot charge the battery sufficiently.
........Lead acid must periodically be charged 14–16 hours to attain full saturation."
http://batteryuniversity.com/learn/article/sulfation_and_how_to_prevent_it
"..............The correct setting of the charge voltage is critical and ranges from 2.30 to 2.45V per cell. Setting the voltage threshold is a compromise, and battery experts refer to this as “dancing on the head of a needle.” On one hand, the battery wants to be fully charged to get maximum capacity and avoid sulfation on the negative plate; on the other hand, an over-saturated condition causes grid corrosion on the positive plate and induces gassing.
To make “dancing on the head of a needle” more difficult, the battery voltage shifts with temperature. Warmer surroundings require slightly lower voltage thresholds and a cold ambient prefers a higher level. Chargers exposed to temperature fluctuations should include temperature sensors to adjust the charge voltage for optimum charge efficiency. If this is not possible, it is better to choose a lower voltage for safety reasons.................."
http://batteryuniversity.com/learn/article/charging_the_lead_acid_battery