It's not necessary to drive it though it's a good idea to move it forward and backwards a short distance every month so that the tires won't always be resting in the same position. Depending upon the model year:
2001-2003: Have the caretaker put the Prius in READY mode for twenty minutes every week.
2004+: Have the caretaker put the Prius in READY mode for twenty minutes every two weeks.
Be very certain the caretaker knows what ready mode is ("READY" is displayed by the PRNDB lights) otherwise they may put the Prius in IG-ON mode which will drain rather than charge the batteries. I've made the intervals shorter than are really necessary to give some leeway if the caretaker forgets occasionally.
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What should I do if I have to store a prius for 5-6 months each year?
Linear Mode
