All of the interior lights should turn off automatically 20 minutes after the engine is shut off.

For the 2017 ES, this is explained on page 381 of the manual. For the 2018 ES, the exact page probably isn't the same, but it should be close.

 

One time I left the trunk open in my garage for several hours. When I discovered it the trunk light was out. I thought the light bulb burned out, but as soon I closed the trunk and opened it again, the light came back on which makes me think the trunk light times out too.

 

The interior lights work in a similar fashion. If, for example, you forget to turn off one of the map reading lights, it will shut off 20 minutes after the engine is shut off, but, the next time you open one of the car's doors, it will turn back on.

Here is the list, from the manual, of interior lights for which this applies.

• Outer foot lights
• Personal/interior lights
• Door courtesy lights
• Ornament lights (if equipped)
• Footwell lights

While the manual doesn't include the trunk light in the list, I'm confident in guessing that the trunk light turns off automatically in the same way. Also, note that, while 20 minutes is the default auto shut off time, that time can be changed via the custom settings.

 

unless your battery is ancient, it shouldn't harm at all.