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If you let a normal car battery (lead acid) fully did charge, it will never charge to full capacity. It will often have full voltage but not the amp-hr of a new battery.
Often it will work in good conditions but in the dead of winter it will fail when you need it most. ie. leaving work at 7pm when it has started to snow and you are expected home.
You could find someone with a load tester to find out its current state. Some auto parts stores will do it for free.
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