Answering your questions in order:
- 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.
- Yes; short trips and lack of use will kill a battery over time.
- 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
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