No I didn't charge it first and I don't have anything to test it with, but I have an update.
I read on other threads about how the shift selector sticking and not registering park can cause some issues, and mine has been sticky and I had trouble getting it to register Reverse. And I live in Louisiana and haven't driven much lately due to Covid etc, and it has been very wet and humid this summer (the first summer I've owned it). So, I applied lubricant to the appropriate shift cable areas, and shifted through all the gears etc. That seems to have helped both the shifting and the battery issue. But not totally. Here's the situation now.
If I got out and crank it goes to ready fine, no issues. All day, with several stops, of 10-30 mintues, this was the case. So, that's great!
Now, it only does the "12v battery stays lit and won't go to ready" if I turn off the car and immediately try to crank it again. This is easily resolved though, but switching off, then immediately cranking again. Then it's fine. In fact, I don't even have to switch off, I can just re-turn it to the on position without even turning the car off and the 12v icon will go away and the car goes to ready.
So at this point, I'm wondering, is it resolved? Maybe it's normal to not go to ready if you switch off and back on immediately due to some battery stuff that happens in that space of time. Like I said, 10 minutes or so and it doesn't happen now, just if I switch off and on right away.