What most people don't known is the charging life of a battery is the number of charges not time. Most NiCad and maybe LiOn is 1000 charges. So if you throw the radio in the charger for a top off 2-3 times a day you just shortended your batteries life that many times. Yes the smart chargers help like Impress but it can only do so much. Best practice is to follow manufacturers recommendations, and as NYPD always did remove the battery from the radio BEFORE you were allowed to put it in the charger. I know I get as others have stated here 5-7 years out of my batteries since I let them die before charging.
This is not necessarily true for Liion, here is an estimated DoD (Depth of Discharge) chart in relation to charge cycles.
100% DoD 300 – 500 Cycles
50% DoD 1,200 – 1,500 Cycles
25% DoD 2,000 – 2,500 Cycles
10% DoD 3,750 – 4,700 Cycles
If using a NiMH or NiCad Motorola impress battery and impress charger, the charger should take this deep discharging out of the equation, as the charger performs this automatically. And at the same time recalibrates the information aka(Capacity) of the battery for use with the radio fuel gauge.
The Impres chargers also perform a discharge cycle on Liion Impress batteries, but this is more for calibration reasons. Not memory effect.
If not using Impres and using NiMh or NiCad it is good practice to discharge them from time to time until the radio shuts down, then immediately charge the battery. As you had recommended.