Haven't had a chance to check the battery yet, but it is about 3-4 years old. I'll report my findings when my mom isn't using the car. Terminals are okay, it's not corroded I actually just replaced them with oem lexus terminals a few months ago at the same time I did the timing belt.

 

Just giving a update for anyone else who had this problem. I checked the battery and it was at 11.4 volts when the car was off, normally batteries are at 12.6 volts so definitely needed a new battery. However, at the time my mom was stubborn and didn't want to spend the money for a new one.

Well yesterday the car wouldn't even start and I checked again and the voltage was at 10.4 volts, I charged it overnight and the resting voltage was still 10.4 volts so I'm sure it has a open cell. Will be getting a new battery today, but I just wanted to share this information for anybody else who may have this problem in the future.

Also thank you to everyone who helped