Indeed.
Using batteries AT ALL degrades them, just like using an ICE wears it out. Charging batteries to "full" (which, as has been pointed out, is not really 100%) degrades them slightly more. But not measurably so. If you're going on a trip and you need it, use it. No big deal at all; and it's been discussed many times on these forums.
Tesla has been building batteries for years, and they are
doing just fine in real life.
By the way, Tesla already is putting Superchargers in roughly every 90 - 150 miles (they stated 120 was about ideal). So you can easily keep the batteries in the sweet spot if you are really concerned about unmeasurable bits of degradation when you get near the edges.