Short answer yes, because lead acid batteries left on trickle charge will sulfate (become couch potatoes) they, like us need exercise.
Long answer, all wet lead acid batteries will benefit from a deep discharge (yes I know it takes some life off but so does sitting) dischage them until the first 2V cell reaches 1.85V then recharge, this is something one might do every few years. And no you won't read that in manufaturers instructions.
Allan