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My short version is whenever it's convenient for you. I usually try to throw it on charge after I finish reading at night when it's down to maybe a quarter left.
You can find all kinds of info on batteries that say keep it between x and y, but IMHO with e-ink (maybe not quite so much with the Aura One) you recharge so infrequently that whatever small percentage of battery length of life you gain from doing that is going to be quickly eaten up by the hassle.
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