Twice-daily is probably the best choice since it is unambiguous and commonly used. Using either bidaily or bi-daily risks the reader getting muddled between "twice a day" and "every other day".
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daily (adj.) Old English dæglic (see day). This form is known from compounds: twadæglic “happening once in two days,” þreodæglic “happening once in three days;” the more usual Old English word was dæghwamlic, also dægehwelc. Cognate with German täglich.
Why “daily” and not “dayly”? - English Language & Usage Stack ...
I don't know of a word that means "near-daily" or "most days". Besides those terms, consider "almost-daily", "at most daily", and "daily (as needed)". If the task is always performed at the same time of day, you might refer to "the X task (as needed)" where X is, for example, dawn, morning, noon, afternoon, evening, or a specific time. Usually and related words lead to phrasings such as ...
meaning - Is there a word that means near-daily? - English Language ...
Semi- is half, so semi-daily means on the half-days. The OED says it means twice a day, which is the same thing.