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I would only ever remove the caps to check water level, if the batteries are dead, stored for a while or something else odd, only fill them enough to cover the plates as the fluid level will rise as they charge and will rise as it warmed up from charging, once they are fully charged top them off to the recommended level.
all caps are vented, if they were not then they stress the battery case, you can get caps that have little fuel cells in them that turn the hydrgen back in to water, but even those are vented.
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