My car is Toyota Corolla, 2014, I only have two short drives each day, which is 3.6 km per way.
It depends on the nature of the drive as well as the distance but in general I would say that's insufficient in of itself. Not only for the battery but also for other elements of the car such as the emissions control features.
If possible give the car a lengthier run (at varying speed and load) once every couple of weeks.
PS: you don't mention fuel type, if its a diesel then that usage pattern would be insufficient to trigger Diesel Particulate Filter regenerations and you would need to do the appropriate procedure regularly or risk serious damage to the DPF
One possible solution, based on your comment, is to use a battery tender or charger.
CTEK make them for one, but you will need access to a power supply.
If the battery charger is not an option, and you are in a sunny location and a solar panel will work, that may help. Smaller ones clamp to the roof but theft may be an issue...