From my viewpoint, it's not ideal. Take my word with a grain of salt - I'm not an engineer, just someone who likes researching whatever junk I'm driving at the moment. I hear from a lot of folks that PHEVs with bad cells/packs come disproportionately from owners who never charge the car.
Some of my theories below - I have minimal evidence to back these up...
- Although the current drawn at minimum state of charge should be relatively low, the voltage sag under load stresses the pack. Constantly operating in this state could lead to accelerated chemical degradation. Furthermore, if the car is stored at minimum state of charge, self-discharge, the BMS, and 12v vehicle electronics draining the 12v battery (which the HV needs to top up) can bring the pack below a safe state of charge.
- Cell imbalance tends to be magnified at low state of charge. Packs generally use resistors to bleed current from higher voltage cells for balancing, and at lower states of charge, it takes a long time to balance. "Top balancing" generally happens with every full charge, who knows when balancing happens otherwise, and how long it takes - it varies from make to make.
- Without charging once in a while to recalibrate the BMS, it may store an inaccurate state of health/actual capacity. As batteries age chemically, capacity decreases and internal resistance increases. If the BMS stored state of health is higher than it should be, it could target a lower min SOC than is necessary to prevent damaging voltage sag under load given the battery's current state.
Just my thoughts. Modern battery management systems probably have a lot of this figured out, but if I were in the same situation, I'd probably set my car to at least run in "battery control" mode (or whatever Audi's equivalent is) with the target charge set at 25-30%.