Basically, when AutoRCM was introduced, the first thought that hit everyone's head was that since the Switch is technically bricked and it cannot turn on to load RCM if the battery is drained, your Switch would ACTUALLY be bricked. That was disproven as there is a CHANCE this will happen since apparently, there is a trickle of a charge still going into the Switch. If it fails, you have to remove the battery (or risk draining the battery even further if you want to try trickling a charge again). However, some people mistook that as charging in RCM and thus were now charging their consoles for extended periods of time in RCM. They even provided evidence to support their claims that the Horizon battery indicator increased after spending that copious amount of time supposesly charging in RCM. Eventually, some users realized this number being displayed was not being properly tracked as one user tried to reboot their Switch after seemingly booting to 100% but it failed the subsequent boot. So while your console can accept a charge with AutoRCM installed, it is only good enough for you to either use that miniscule charge to remove AutoRCM (to allow it to charge without a corrupt bootloader) or sending a payload to boot into Horizon which can charge the device much faster.
Regardless, fully draining the battery is never a good idea, except for some Apple products. The problem is, as CTCaer explained to me, is that there may be an unknown chance that the battery will become incapable of accepting further charge if its get drained during RCM. However even fully draining the battery in Horizon is not necessarily a good idea either.
tl;dr=If you use the console with AutoRCM like a normal console in that you never let it fully drain, you're golden and don't need anymore jigs/hardmods.