Ideally yea. This isn’t always practical if your living in the van so simply charging until it reaches float stage is ok as this resets both Victron and BMS shunt SoC readings.A full discharge down to zero % ?
Aswell as % state of charge, the internal shunt calibrates itself to total Ah capacity so after you take it all the way down to 0% and charge to 100% then it’ll show capacity as something like 202.8Ah. This total Ah capacity is affected by other factors like temp and charge rate but it’s still good that it is constantly trying to correct itself.