2020 Toyota Corolla Hybrid

The 12 volt battery will discharge after 7 days of sitting idle.  The
Schaumburg Toyota dealer suggested that driving the car every 7 days
would allow the operation of the car to charge the battery to a full charge.  
Now the same dealer mechanics suggest that the way car is driven for 40 to
60 minutes once a week is not the correct way to have the car complete a
full charge.  I am looking for direction, first under what conditions the car will
supply a charge to the battery and then what speed range, road type (hi
way,local) and time would be needed for the car to put a full charge on the
battery.  The Schaumburg Toyota dealer states that 12 volt battery will under
a constant current draw from the 12 volt battery.  This is designed activity
for the 2020 Toyota Corolla Hybrid and just needs be driven "enough  under
the right conditions" to not allow the 12 volt battery to discharge completely