I think not. It keeps battery cycles low and is likely better than some other behavior. As far as I remember, batteries don't like to go way below 20% and don't like fast charging from 80% upwards. However, to my knowledge, it is wise to drain the battery 1-2 times a year so that the charging controller can calibrate. A way to do that is to type "yes" in your terminal (or 3-4 terminals) and wait, it will make the CPU run at 100%. After your MacBook shut off, leave it for some hours before you charge it again.
Somee MacBook Pro models also incorporate a feature called "Battery Health Management."It can help optimize the charging patterns based on your habits and usage to reduce the wear on the battery over time. It may slightly adjust the charging levels to prevent the battery from staying at maximum charge for prolonged periods (to stop battery aging).