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So what are the mechanisms that cause a lead-acid battery to age? By "age" I am mostly referring to (reserve) capacity loss. Do the plates actually disintegrate over time or is it sulfation that inactivates them?

I have recently discovered that the "smart" charger in mt 2016 Toyota Rav4 is not as smart as it thinks it is (goes for the whole car!) and chronically undercharges the battery. I recently replaced the original OEM battery because it had near zero capacity but would still start the car just...