i haven't read their protocol. but for a really preventative habit, that is what i have done for years. my mimaki jv4 160sp (running triangle solvent ink) is a beast to maintain. it will clog up in three hours without it's cleaning cycles running.
every night when i'm done working, i swab cleaning solution around the edges of the caps and clean off the wiper. the wiper is responsible for a lot of clogging. latent ink will sit on the wiper edge. then your printer will do a cleaning cycle, wiping dry ink particles across the head platen. or causing obstructions that don't allow the head to be properly wiped. i don't know the exact science behind the caps staying wet. but uncleaned caps accumulate ink, get sticky, start to leak air etc. as far as will this contaminate or lessen the density of your print start up, it doesn't mine. doing a head soak will. but that is for when you've got a nasty clog. just wetting the caps edge will not leach up into your print head.
also, my printer has two cleaning cycles. one quick one that happens every two hours. takes about 5 seconds. it spits a tiny amount of ink into the caps (called the flash) then the pumps turn three times clearing them of clogs. the other cycle is long and happens twice a day. in that cycle the pumps actually pull ink through the heads (wastes tons of ink over a month).
with the epson you may be thinking that the pumps are pulling ink, but actually it's just spitting, then pulling.