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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!
2000 RX300 Mineral Green
2011 RX450h Satin Cashmere Metallic