Lithiums should not be allowed to drop below 12.6 volts (resting voltage) that is about the 20%, after that they will drop voltage very fast until the BMS cuts the power. The problem with the bms is it's power cut out is too low and some damage to the lithium battery will occur before the cutout limit (not much, but it does damage it). Flooded lead acids 12 volts is the lowest resting voltage you should let them get to, but even that is harsh on them and they will live a shortened life.
The voltages will show a bit lower under heavy loads, but I find disconnecting all loads and letting the battery sit for 5 minutes before taking the volt reading works very well for me.
I highly recommend 3 x the solar wattage to AH of the battery for a year round all areas of the country traveler. 2 x works fine in sunny Arizona, but will leave you conserving power a lot in many climates.
I have been running both lead acid and lithium in my rig now for a while (2 systems) and found 3x to be the minimum for almost no worry charging all the time day after day, especially with lithium as even many rainy cloudy days you can get 60-90 minutes of sun in cloud breaks and this will get the batteries up a lot.