Prius battery issues?

Hello, I have been having some issues for a while now, and it is really starting to be a big pain! At first, when I go to drive, everything is all good then not very long after the triangle comes on, then it maybe stutter once then I can't accelerate. I also notice that this tends to happen after it sits for a while like while I'm at work, or when it sits overnight, I also notice that when this happens, there's only 1 bar in the battery "icon" on the main screen. Then sometimes it also puts a red car icon on the screen (image below)

It is a 2006 Toyota Prius with about 200K miles on it and I want it to last me through college for the next 4 years. I do have another Prius which is totaled for parts and I did take both batteries out of that one.

Would it be worth changing the batteries?