whatever i arrive home at has always worked out fine. but some peeps who have a big downhill on their way out in the morning like to arrive low, so the hill will fill it back up.
I generally try to park with at least 5 bars lit in the battery. That's so that I can back out of the garage and close the garage door in EV mode so that I don't waste gas until I start moving. If the battery is low the car won't go into EV mode.