Lithium batteries do not like being below 20% or greater than 80%. Toyota uses a BMS, battery Management System, to keep it in that range. It seems likely that it will recover from this discharge, except for the age, typically 5-7 years. There is also a degrade factor for higher temps.
I have looked on YouTube for diy replacement and it is quite involved.
If you do decide to get rid of it PM me, I could use something to do with most things closed
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