The lower LFP knee starts somewhere between 3.2 and 3.0V/cell (depends on rates, whose
research you believe, etc.) but certainly by the time your lowest cell reaches 3.0V it has less than 10% SOC left. Below 3.2V it has less then 20% left. So, easiest way to know when you
must recharge is to
monitor the lowest cell voltage and start
charging somewhere between 3.0 and 3.2V.
Otherwise, for more normal operation, the SOC/voltage curve is very flat, so knowing exactly where you are is more difficult, especially under load. In that range I generally rely on the reported SOC and make my decision.