Don't know how well my Lexus UX matches your RAV4 hybrid system, but one thing I've recently noticed might help. I've got a digital voltmeter plugged into the cigarette light socket and recently noticed that the voltage rises when I put the car into Park (which I believe is a slight overcharge of the battery to balance the stronger and weaker cells). Basically, when I first start the car I see 14.4 volts, which is typical of a charging battery. After a while, the voltage rapidly drops to 12.4 volts which I think means that the battery is fully charged and is simply being floated. However, if I put the car into Park the voltage then rises to 13.7 volts. I've now taken to put the car into Park at traffic lights etc. instead of leaving the car in Drive. Might be worth using Park more often at the end of a journey when you've got time to spare. PS - Small plug in voltmeters are very cheap (mine cost less than £4 including delivery from China) so keeping an eye on the battery in this way is pretty cheap.

So you charged it once and it was fine?