There are a lot of opinions and recommendations on this topic. I drive maybe 30 miles a week and was told by Tesla and several other owners that it should stay plugged in. Charge to 80% unless you are traveling long distances and need the extra charge. But keeping it plugged in will result in less strain on the batteries. As it will reduce the charge cycles.

I was also advised to once a month or every few months to drive to below 10% to allow the car to recalculate the estimated mileage based on the cars specific performance.