My 2021 RAV4 TRD just did this. I was sitting in the car with it on Accessory with the fans on (not ac) but I believe the heated seats were also on for about 20 minutes. Steering wheel locked, brake pedal locked, won't start at all - but all lights and stuff come on (window roll up slow tho). I'm going to let it sit for an hour or so, shut off all accessories, and see if it will start. If it starts I'll run it a while to charge battery - but at under 20k miles it WILL be going in to the dealership in the next couple of days. I just hope it doesn't leave me Ubering this afternoon. I love this dam vehicle. This is the first trouble I've had.

I PROMISE to update.
First Update - it started fine after sitting about 90 minutes. This means battery is holding charge and I probably sucked all the juice with accessories on (not running) on my earlier break. I have appointment at dealership tomorrow - however, if it runs fine on the way home I will take it to dealership at a later date as tomorrow is not convenient if it doesn't HAVE to go.
***NOTE TO SELF AND OTHERS - DO NOT USE ACCESSORY MODE WITHOUT ENGINE RUNNING. Even 10 minutes can kill the battery depending on the bells and whistles running (heat seats, fans, lights, etc).