For me, battery health is at about 94% (last time that I checked), and battery drain is definitely faster than it used to be. That said, this started with iOS 12.x, and iOS 13 and 13.1 have not been noticeably worse or better - I am seeing the same behavior as I was in the last few weeks/months on 12.4.1 and 12.4 and 12.3.2.
To note, almost every day, I go for a run of 1:15 to 1:30 within an hour of waking, listening to podcasts and syncing with my Apple Watch as I run. At the beginning of the year, when health was about 98%, I'd end the run at about 90% battery. Now I end the run at about 80% battery.