openSuse (a distro which notably defaults to btrfs) packages these btrfsmaintenance scripts [2], and it appears they may have included it in their default install (I can't find a list of packages). Their wiki page on disabling btrfsmaintenance [5] implies that if disabled, manual maintenance (presumably via running, among other commands, some form of balance) is needed.
There's also an entry in the btrfs wiki [3] that indicates running `btrfs balance` will recover unused space in some cases. It helpfully notes that prior to "at least 3.14", balance was "sometimes" needed to recover free space in a file-system full state. (The lack of precision here doesn't inspire confidence)
Another btrfs wiki page [4] indicates that running balance may be needed to recover space "after removing lots of files or deleting snapshots".
1: https://github.com/kdave/btrfsmaintenance 2: https://software.opensuse.org/package/btrfsmaintenance 3: https://btrfs.wiki.kernel.org/index.php/FAQ#What_does_.22bal... 4: https://btrfs.wiki.kernel.org/index.php/Manpage/btrfs-balanc... 5: https://en.opensuse.org/SDB:Disable_btrfsmaintenance