Yes. The Prius will continue to run until you shut it off, at which time it won't start. If you think about it you'll see why this has to be the case. For instance, if the fob's battery died or the signal was blocked and it had any other behaviour, then the car would stop which would be a bad thing.
If the Prius starts up again, then the fob must be somewhere inside the car.
If the fob is outside the car the Prius will not start. So the only way you could drive off and leave the fob on the roof is:
1. Get in the Prius with the fob.
2. Start the Prius.
3. Get back out of the Prius with the fob and ignore the warning beep.
4. Put the fob on the roof.
5. Get back in the Prius without the fob and drive off.
So it's possible, but you have to work at it.
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