I would not stress about it too much. Lithium batteries don't develop "memory" the way older NiCad or NiMH batteries did, so you're not going to "lose the top end" by never charging it to 100%.
The thing that Lithium batteries really dislike is being over-discharged, so most EV makers put in a "false floor" so that 0% reported battery capacity actually means that the batteries are at 5% or 10% charged. I am 90% confident Rivian has done this (it's part of the reason EV makers are sometimes cagey about the actual usable capacity of the battery).
Lithium batteries also don't like sitting for long periods of time at 100% charged (but not as bad as being at 0%) so EV makers either build in a false ceiling to go with the false floor or they make it clear in the car's charging UI that you normally charge to less than 100% as Rivian does.
Edited to add: sometimes the battery control software can become confused about the capacity of the battery if you don't use the battery over a larger range of SoC. You sometimes see advice to "reset" its understanding of the battery by charing to 100% then discharging to close to 0%, but it does not really affect the life of the battery itself, and I have no idea if this advice applies to Rivian