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Both my bikes are rigged with a permanent harness for the battery tenders. I just plug in every time I get home and have never had a problem. The bike's not drawing any current standing still, so I can't see any way there would be a technical need to disconnect.
I would suspect the advise to disconnect the negative is to stop us from hitting the start button with the tender still connected. In other words, it's a lawyer thing to avoid liability.
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