I've had mine almost 2 years and often leave it over a week without driving, or just drive occasional short journeys without any battery issues. 

It's worth remembering that unless you turn the ignition fully on to activate the high-voltage main battery, all the electrics will run off the tiny 12v battery, which is mainly intended to activate the HV system, and isn't designed to cope with the electrics & accessories for long, particularly in winter (heater, media console, lights, a/c, demister, etc).

I understand people have 12 volt battery problems with this car.  Is it necessary to drive at least half an hour after switching on  and 
every day  to avoid battery failure?

Yaris

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