I just bought a 2020 Corolla XSE, which has push button start. I accidentally did not turn off car completely, and my air conditioner was running on battery power alone for four hours. Have I really harmed my vehicle?

I just bought a 2020 Corolla XSE, which has keyless ignition (push button).  I
did not turn entire car off (by pressing brake once car is in Park, then
pushing the buttton.  I am sick about it.  It was outside running for over four
hours on, I am guessing, just the battery.  When I realized it, I thought I had
better drive it around so the alternator could charge the battery (don't know if
that is right or not).  Have I caused a major damage to anything?  Drove the
car today and it seemed okay.  I may only be imagining that it wasn't as ice
cold as before, but it did eventually cool down the car (90 degrees today).  I
don't know what I should do, if anything, at this point.