I have had my auxiliary battery replaced twice in my 2006 RX400h at about a 2 year interval. Before replacing it, I tried to charge it myself, but it would only charge for 10 minutes on the charger, then the charger indicated a charged state, and then the battery would die soon after that. I had to reset the windows, seats, and navigation computer too.
Both times, the dealer tested the battery and said that the battery did not pass the load test and needed to be replaced. The battery is rated for 84 months and when you replace the battery, it is suppose to be prorated, but their idea of prorating is that it is covered 100% for the first 2 years and then only 50% after that. They charged me $145 to replace it a second time because my battery was 2 years and 9 months old. I think that this is outrageous especially considering that I was stranded and because this is an expensive car. It is too bad that Lexus will not just admit that this is a bad design and fix it. I think there should be a recall and a fix for this because it really becomes a safety issue if people are being stranded in places that are unsafe (from weather or criminals).