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You don't say how long between visits, so I'll take a 10-month case.
If you have a heated interior space (i.e., cabin), I'd move the battery indoors, whether trickle charged or not. I learned this in a Saab owner's manual. I would consider using a deep-cycle battery and just charging before use. Even with a regular car battery, I personally (if stored in an interior heated space) would not trickle charge, and just charge once-a-year before use. What you want to avoid the most is the freezing of a discharged battery.
If you want to baby the RX, I'd change the oil shortly before leaving it.
I think I would fill the gas tank and use some gasoline stabilizer, that you can buy at a West Marine or other boating store, making sure to run the stabilizer through the system before leaving. I'm not sure about this one, but that is what I would do.
I would put the car up on four jack stands (to avoid any flattening of the tires).
You pointed out something I should have mentioned. Between us and family visiting the property it should only sit 3 to 4 months between visits. We keep a golf cart (6 batteries) and a pop up camper (2 batteries) there all winter and with them a charger have never had a freezing problem.
Thanks for the other suggestions!
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Tim
2000 RX300 Mineral Green
2011 RX450h Satin Cashmere Metallic
3-4 months isn't too long, so you don't need to take any major precautions. Just make sure that you do frequent oil changes with synthetic oil to help with all the moisture.