One measure of battery life is "cycles".
The "50% rule" is based on off-grid, fixed base solar system design. It's a trade off between long battery life and battery cost.
Take a lead-acid battery down 20% every day and fully recharge it the next day and you might do that 3,000 times (10 years daily use) before you have to spend the money to replace the battery. Down 50% every day, and full recharge the next day and on average you'll get 1,000 cycles (3 years daily use).
So 50% is the sweet spot that solar designers shoot for so as to not have to spend more on batteries than they have to. Take the batteries below 50% ON A DAILY BASIS and they have to replace more often. Higher cost over time. Limiting discharge to 20% ON A DAILY BASIS means they have to buy more battery at the beginning, and at replacement time. Again, more money over time.
So for a FBO (fixed base operation) the 50% rule is the "internet solar guru" default recommendation.
But let's say you use the battery only for weekend camping. You take it down 100%. You can do that around 300 times before it's due for replacement. How many weekends is that?
For a weekender, most of the time the battery will die of old age (average 4-6 years) before they ever even have to think about the number of times they went below 50%.
Draining the battery 100% to see what the capacity is, is an occasional thing. Annually, quarterly, whatever. It isn't going to shorten battery life in any way you'll ever notice.
No worries.
With Iota definately get the IQ/4 brain for charging flooded or AGM lead-acid batteries. No IQ/4 for gelled electrolyte lead-acid or lithium iron phosphate - 14.8v is too high for those.
My Chinese 200ah AGMs say to "limit initial current" (translation: bulk charge) to 54a. Which is basically C/4 (capacity in amp hous divided by 4). C/4 used to be what all battery manufacturers recommended as max - before AGMs.
Thrse days most top AGM makers say, "no current limit as long as you keep an eye on temps".
Certain Odysseys get flaky if not regularly topped up to 14.7v. Odyssey's recommended recovery procedure is drain 100% and then recharge bulk to 14.7v and absorb at 14.7v using a MINIMUM of C*.4 (40a charge current per 100ah of battery capacity).
So...for your 200ah AGM battery, you should probably go for C/4 as a MINIMUM. So a 45a or 55a minimum.
For my pair of 200ah (parallel 12v for 400ah total), I'll probably stay around 25a (C/8) on the shore charger. That way I can run it off a dinky generator if need be. And I'll probably never need it anyway with 300w of solar...damn things were already in float mode by 7am this morning (heh...no loads hooked up yet

).