line breaking for group actions in latex

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When the group $G$ acts on a manifold $M$, we typically use expressions as

$M$ is a $G$-manifold,

or

$G$-action on $M$.

If we write those sentences in latex, is it recommended to put $G$ and the latter word together? For instance, if a line ends with "$G$-" and the lext line starts with "manifold", it doesn't look good to me. On the other hand, if I see a line ending with "$G$-mani-", it also bothers me.

Is there any instruction on this?