From my observations, the car sat in 'park' with the engine running isn't very good at charging the hybrid battery. It's better when being driven, charging via regenerative braking.
Feels like the engine would need to be running quite a lot to keep the hybrid battery charged. And that means fuel consumed.
Is the best (cheaper, cleaner) means not a trickle charger to keep the 12v battery healthy? Not practical for everyone (like OP William said), but a better solution if it is so, perhaps?