Hi
I had this exact issue on my Mk4 2012 GS450h. I bought this and it fitted and worked fine:
GENUINE TOYOTA 12V BATTERY 60AH L2 STARTER BATTRY 28800-YZZZA 2007-2018
I now have another Mk4 , 2017 GS450h with the exact same problem so have bought another one.
It cost me 80 quid, but now they are 124.99. Fitting it this weekend.
If you buy from their you will need to give them a fake reg as they won't supply it for our vehicles as they say it won't work. But it does.