l have had the familiar battery problem twice with my 2007 RX 400 h, once when the doors were left open while working on the car, and again after a long phone call while stationary and with the side lights on. First time needed a jump start and second time the battery recovered after a few minutes standing.
I am now in the process of replacing interior light bulbs with led's to reduce drain. Also, despite my auxiliary battery being fairly new I am looking to replace it with an A G M leisure battery if l can find the size. They are not designed for engine starting and can cope with deep discharge cycles without damage.
Harry