I've got both a Model S and a Ford Focus EV. (Fully EV household now, yay!)
We've had the Ford Focus EV for going on 4 years now, and had bought it used from a previous owner. We've charged the Ford Focus EV to 100% every single time we pulled into the garage without a care in the world. It wasn't until I got my Model S this year that I started even thinking about limiting the maximum charge on a regular basis.
I'm not sure how different the Ford Focus EV battery is form the Model S, but after 4 years of daily 100% charging we don't see any noticeable decrease in battery capacity. I suspect that as some have already hinted at, mistreating any battery may eventually lead to a measurable difference in charge capacity, but not a meaningful difference. Model S's are expensive; I'd say if you've spent the money then enjoy your car and don't worry too much about negligible range differences in 4-5 years. Compared to the cost you paid for the car, how much is the cost of 5-10 miles of lost range in 4 years to be so worried about? Probably fairly insignificant. Charging to 90% daily should be fine in my opinion.