No need to discharge to 20% just for charging unless of course you go for along ride , generally charge the battery once it goes below 80% or so.
When the charger turns green it means it has registered max voltage on one or more of the cell groups but doesn't automatically mean the battery is at full voltage or fully balanced , only a meter reading can tell you the actual voltage.
With a new battery I would charge till green then leave t for half hour before disconnecting, check the voltage and if it reads as it should 42v for a 36v you will then know balance is good and in the future just disconnect the charger when it has gone green.
When it goes green the BMS may be balancing out slight anomalies in cell voltages, even 0.1v is a large voltage difference and can cause issues when voltage lowers.
An indication of a battery out of balance following a green light charge is a voltage reading that appears low. Balancing depends on the BMS and how it is programmed but generally the voltage is above 4.15v per cell group.
Fully charge for the shortest period is good practice, though leaving a battery at too low a voltage can cause issues if it self drains more so when not used for months on end. 40- 70% is a good ball part figure for resting voltage.