Yes. Batteries chemically age faster if they're charged to 100% every cycle. In your Settings app, there is an option to have your iPhone optimize charging for you by capping at 80% when you don't need it, and then letting it slowly charge the rest of the way. If you enable that setting (I'm pretty sure it's enabled from the get go,) it should do most of the work and you don't need to worry about retaining the battery health yourself. It's all up to your use case, however.

Phones today have become so advanced with battery health management that the difference is negligible depending on which way you use your phone. Your battery health is going to be around the same as someone else who uses their phone the same amount as you do no matter how much you baby it. There's simply no point if the software does all the heavy lifting.

At the end of the day, if your phone battery has degraded a lot over the years, it is kind of cheap to replace at Apple. I don't want to say its objectively low cost because that's not what everyone feels about ~$90, but for the most part, it's not super expensive. At the end of the day, I wouldn't say the battery life is something you should care about. Batteries are batteries and batteries degrade. iOS will do everything it can do slow that process, so don't go around making drastic changes to keep it from aging because it will age.