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Idling a car will not charge a battery. It may replace some of the charge used to start the car. But all the electronics in the car (HIDs, HVAC, etc) take a lot of energy. But when you drive, the higher the RPM, the more amperage the alternator will generate, which will push back charge to the starter battery. If the battery is deeply discharged, it may take around 30-60 minutes of driving to fully charge it back up.
And I'm also really surprised that leaving the trunk unlatched overnight can drain your battery to the point where you only hear a click when you tried to start your car. Signs of a bad battery?
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