Theoretically yes, if you leave it long enough. But it really isn’t much power draw so probably, like, decades. I think the battery might self-discharge and sulfate by then regardless. And this is nothing new; oldschool radios have a nonzero idle draw as well to keep their clocks running and remeber all your radio stations. I imagine the milliamps required aren’t that much different.
Modern cars have all kinds of standby shit constantly drawing power to check in, keep time, phone home, blink lights, listen for the remote, etc., etc. all the time regardless. The audio system is really only one small piece of that whole puzzle.