BEV's also have an upper reserve. Fotomoto mentioned some that don't, I am guessing those are older models.
Neither BEV's or PHEV's allow you to fully discharge the battery. That's what we refer to as the lower limit, lower buffer, etc., i.e. 0 miles and 0% is really 20% or something similar. The question is whether 20% or whatever it is can still be too low for someone whose goal is maximum longevity, as opposed to reasonable longevity. Obviously reasonable is a subjective term.
Something to keep in mind is that while 20% or whatever it is is the normal lower limit, you can go below that by sitting for a long period of time with the car on, especially when using HVAC. SOC will drop below the normal 8-10% as displayed on the app to about 1% before ICE starts up. Someone who is concerned about going too low on the battery should probably avoid this if possible and not sit still for long periods of time with 0 EV range.
For performance (i.e. efficiency) yes. However using manual modes for battery and ICE longevity, which is what your original question was about, the jury is out on that.
If you are referring to i-MMD hybrids only, I assume that the tradeoff decisions were similar to Clarity. As to your question whether they went with i-MMD just because it's what they already developed, but not necessarily the best choice for Clarity, that is an interesting question, with what I assume is yet another elusive answer.