Depends on what your goals are for the lead acid battery. I don't think anybody is saying discharging below 50% kills the battery; it causes additional degradation. If you consistently recharge before it drops below roughly 50%, you will get significantly more life out of the battery than if you consistently discharge to 20%. Pretty much a no-brainer there. Similar to completely depleting a lead acid battery is going to do irreparable harm to the battery. That still doesn't mean its DOA, but the life cycle is shortened each time you do that.
In the old days, RV converter chargers were terrible at maintaining the batteries (often overcooked them), and people didn't understand that "deep cycle" didn't mean you could consistently deep discharge batteries and expect them to have long life. Anyone that has had to replace their batteries after two or three years will understand this. But if you treat them with respect, such as having a multi-stage charger, not letting them go dead, keeping them above about 50% fairly consistently, you can routinely get 6, 8, or more years out of lead acid batteries. Deplete them to 20% consistently, and that is highly unlikely in my experience.