So Maggie Flinn, did you get that?
That watching only battery voltages, are not the best way to actually know how your batteries are doing. Watching battery voltages, can only be used as a general guideline.
One reason is, that the voltage readings are not only saying something about the state of the batteries, the voltage reading is also being influenced by other factors, so only when a battery is disconnected from charging sources and usage appliances, and have been disconnected for some time, can one get a better indication of how the battery is doing by only reading the voltage. And even then it does not give a very precise or full picture.
So using only voltage readings as the guide might end up costing your batteries a fair percentage of their potential lifespan.
The better way to go, is to use a Battery Monitor, that can express the state of the battery as a percentage of capacity.
And the only way to even do that the propper way, is if a shunt amp sensor is added, and the battery is monitored over time, and the Battery Monitor collects data from several cycles of charge and discharge. And not all devices that call themselves Battery Monitors does this.
If all you have right now is however a voltmeter, then that is what you need to rely on. And then the general rule of thumb is to not go much under 12.2V.
But please understand that any advice using only voltage readings, is not the best advice you can get, and not the best way for you to know how well you are treating your batteries.
The best way is to use a decent Battery Monitor device, that uses a shunt sensor, so actual usage and charge data can be collected, and processed, and can be translated into an actual percentage of charge.
And then you should never go under a 50% level of charge on those otherwise fine lead acid batteries of yours.