Since I know batteries and charging systems, I prefer to not leave my batteries on a battery charger/maintainer all the time
Leaving a battery connected to a (dumb) charger all the time is indeed problematic as they just run constantly and will overcharge a battery.
Leaving a battery connected to a smart charger all the time is perfectly fine as it will turn off when it detects the battery is full. Many/most will not automatically turn on again however once they detect the battery is full and kick off, meaning that if you want to use this sort of setup for long term maintenance you'll need to come out and manually enable it again every 3-4 weeks to let it top-up and then turn off again. My Canadian Tire smart charger is like this.
Leaving a battery connected to a quality/smart battery maintainer/tender (brand name Battery Tender, Noco, Optimate, etc) is perfectly fine indefinitely as their entire design is that they only turn on when needed, and then turn off again, repeat as needed automatically. It's 100% what they are designed to do, and they can be left connected forever basically with no negatives whatsoever, only upsides. My wife's bike was left connected to my Optimate 5 maintainer for over 2 years at one point without being started (or the key even as much as turned on) when she didn't ride for a long time after her accident and when I did disconnect it and start the bike 2 years later it started like it had never been idle. This is exactly the use case they're designed for.