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Again, this is just heresay
Apps sitting idle in ram use virtually no cpu/battery. Android automatically frees memory as needed so there's no problem with them sitting there. Autokill/manual kill use resources and are a waste of time.
Best bet is to avoid poorly designed apps that use cpu but don't get you anything. Example, I use a notepad app called Papyrus because it's the only simple one I could find that doesn't autostart. Try to cut down on widgets too. Antivirus and automated task killers are also a waste.
Automated task killers are like driving with one foot pressing the brake and one pressing the gas at the same time. Just let android do it's thing. Use an app's exit/quit button if it has one when you're done.
Again, this is just heresay