As above you really just need a rolling boil not overly vigorous. Whatever level you decide you should try to make it consistent batch to batch, then figure your boil off into your recipe/process. For example if your recipe is designed for 5 gallons into the fermenter then you need to add the boil off loss to your starting boil volume (or plan to top off with water after if you can't boil that much). You also have to realize there will be fermenter losses. That is why many people design a recipe for say 5.5 gals into the fermenter, so you get a full 5 gal packaged. If you're brewing kits then you are stuck with whatever volume the kit plans for, unless you want to modify it a bit.