Thanks for all the posts, and insights. I just had this happen again to my Kia Niro PHEV, about the 4th time since 2018.
The battery was at about 7V - the battery really should have Low Voltage Disconnect at about 10V, and that would protect the battery.
So 20minutes of charge - with the charger on and battery voltage about 12V (4A charge), and it could start up again.
Seems like in this case, my wife cleaned the vehicle, so in and out with the doors open for some period. Really should have coped with this.
Possible fix I guess is to turn on the vehicle, and then have the doors open so at least the +12V Aux Battery is being maintained by the larger battery.
I did have a interesting query/feeback form from from Kia ~sometime in 2019, which seemed related to this - so was really hoping it had been upgraded (via the cell connection) and fixed. The dealer that we bought from, JimBonekia in Santa Rosa, California didn't know anything about it when we took it for a service 6 months ago.
So it really makes the Kia Niro PHEV unreliable that this condition can be precipitated. A friend asked if I would recommend the Kia Niro PHEV as an EV, and I had to say, well it occasionally has this problem.