The van sat for a few weeks. Went to start it and the battery was dead. Hooked up battery charger. Finally got it started no problems. Now when I try to start it with a full charged battery it will not start. It will turn over and I am in no way a mechanic, but it seems that it is not getting feul to turn the engine over.

Do a reset. Ten minutes on, 30 seconds off. Try to start. If it doesn't, do a relearn. Which is 3 times the reset , don't try to start until the third time. Have a charger handy, don't let the battery get low.

You need the VW scanner to reset the system and reprogram it after loss of power to the system. Aren't VW's great?

Take your battery in for testing after charging it. Then, to avoid pulling the Alternator for nothing, drive to a local Autozone, Advance, or Oeilys and ask them to check your charging system on the Van.
Consider taking an extra battery if you have one to fit, so you can get back home after the test. Run the van with the charger connected until you get good heat, then reduce the blower fan speed to minimum. Then disconnect charger.
If you are still stuck on the road, jumpstart the van until it is warm, using the jump car to charge the battery so you can go home and try again. Just leave the battery jumpers connected to the struggling van battery a few minutes so the old battery has a chance to charge.

Running so few miles has accelerated the aging of the battery - the battery never had a chance to fully recharge in such small trips -  so now you have to replace it a year sooner than usual.
Just replace it.

If checking battery cables and wiring to the starter and ground points doesn't help. Have the battery checked for a bad cell. Preferably before you charge it.

I assume the battery has no amps,it may have volts,but no amps,try a new battery.

sound like a fault in dvd player.its running battery down.have dealership check it out.sound like a electrical problem.

Answering your questions in order:

1. No, there's no such device to prevent the car from starting; a battery that requires a jump start would require more than 5 minutes running time to recharge. The battery needs to be charged to work again, (unless it has a dead cell, inexpensive battery testers will confirm). A jump start is still possible but wouild require leaving the jumper cables on for at least 15-30 minutes to provide enough of a charge to start the Rav again. Charging on a battery charger is preferable.
2. Yes; short trips and lack of use will kill a battery over time.
3. Yes; Here is a link to the basics of checking a charging system http://www.aa1car.com/library/charging_checks.htm

In summary, most should get more than 3 years out of their battery. You've already determined that the acid levels in the battery are good (most don't even check for fluid levels). Constant charging and discharging will kill a battery and this isn't apparent in your case.
If a battery charger isn't handy, try hooking up the jumper cables and leave the other car running for at least 15 minutes. I hope this answers your questions. Best of luck.
Greg

i had hte same problem wiht my 95 it sat for two months and it did this either youhave a couple of dead cells in your battery or you alterator could be going bad wither that or a nasty combination of them both

mine just went dead also and i've had it for 5 years. pretty sure it's the battery, going to replace it today.