I prefer not to rely on a rescue service if possible. I have a multiple approach.
1) Try to ensure the car gets regular journeys ,of long enough duration to recharge the 12v battery.
2) If it only gets short trips I would use a mains powered smart maintenance/trickle charger to keep it topped up.
3) If left for long periods unattended I would attach a solar charger.
For emergencies -
1) I carry a small 'power bank' type jump starter in the car. . Its only 150mmx75mmx20 mm (6"x3"x3/4") with a small set of crocodile clips able to give a peak of 400 amps at 12v (for a very short length of time probably) . These claim to be able to jump start a conventional ICE . Hybrids actually start their engine using the HV battery. The small 12v battery only needs to be able to power up the cars computer system which carry out tests in a few milliseconds before throwing a heavy duty solenoid switch to connect the HV battery which starts the engine. I have read that it only needs about 30 amps to do this so the little pack should be able to do this easily. But TBH I have never needed to use it so cannot vouch for whether it will work. One downside is that if you get to the situation of needing a jump start the 12v battery may already have suffered some damage/deterioration . But thats true however powerful and sophisticated your jump starter. Prevention is better than cure.
You do need remember to keep it topped up about once every 3 months (Xmas,wifes birthday, my birthday, wedding anniversary works out well for me

) Easy to charge using a simple 5v usb lead, maybe even from the car. Also has uses as a torch, or portable 5v power bank for charging phones etc.
2) I also still carry a pair of conventional jump leads. I might be able to cadge a jump start from another car. However I wouldnt offer to jump start someone elses ICE car with my Mk4. It might damage the small battery or delicate electronics. (I might offer to help by using my little power bank thingie, to see if it works

)
3) if all else fails ,call for assistance.
In my opinion (but not yet put to the test

) a small power bank will be sufficient for a hybrid. But a more powerful alternative may be better if you might occasionally wish to start a conventional ICE car.
I have been concerned for years how the AA (and probably also the RAC) have evolved from 'clubs' offering good value and lots of information to members into organisations that simply want to flog you stuff . Germanies ADAC and Austria's OAMTC seem much better in this respect.
. I assume the attending van will still be fully equipped with tools ,diagnostic equipment, universal spare wheels etc, but do they actually carry a variety of replacement batteries ? .Or will they delay attendance while they obtain a battery they will then pressurise you into buying?
I can understand that it may be very convenient getting your battery replaced by them, and they would not be very happy attending a second time for the same reason if you failed to replace it yourself. But I'd rather shop round myself for the best battery and best price.