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I expect that Rivian, like most EV makers, has built in a "false floor" where 0% reported battery SoC is not actually 0% specifically to avoid damaging the battery by over-discharging it. I think you should be fine.
 

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2% is probably ok, but I too would not do it too often. The reason that it's not a great idea to noodle down the battery to zero is that it's not just a single battery ... it's 7776 batteries (cells), believe it or not. The battery control system cannot know the state of each of them, so they're "bundled". There is inherent variability among the cells, and if the whole battery is at nominal zero (which is not fully drained, on average, due to the abovementioned floor), some cells are actually at zero and in danger of being damaged.
 

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We took a trip and pulled into our destination with 2% battery remaining. Does anyone know if this low percentage damages the battery?
Don't discharge below 10% or charge above 85% are the basics for Li-on batteries in EV's.

Won't hurt occasionally BUT I've charged at fast DC chargers exclusively for two years and often would see 2% levels. It degraded the battery at twice the rate vs. home L2 charging most of the time. 13% for me vs. 5% for most Model 3's with 100,000 miles on them.
 

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I think in the midrange anything goes. My MO is to keep it there, or charge up to 85-95%, and every once in a while noodle it down to 10% or maybe 5 or 2 once every 6 months or so; similarly, juicing up to 100% every few months. Otherwise keeping between 25% and 80%.

P.s.: This is in an I-Pace, I don't have my R1S yet (but hankering mightily)
 
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