As long as a car battery stays relatively full, it will stay healthy longer. A modern car, loaded with all kinds of stuff that draw current, has an alternator with a bigger output to power it all and thus keep the battery full. Once the engine is started, the alternator provides the juice for everything, not the battery.
Rap, it doesn't take a 3 hour drive to charge your battery. It was probably already damaged and died there and then. Had to happen sometime and somewhere... When sitting in the garage, is it always hooked up to a trickle charger? Or disconnected? Hooked up to a car a battery slowly looses power over time. And when discharged too much after, say, 2 or 3 months it looses some of its capacity. Then you start her up, all is well. Although, repeat this so many times: battery kaputt.
How old was that battery? Did you buy it new? Had the previous owner already drained it too much and jumpstarted the car...
Then you got quality batteries who can take a punch, cheap crap and everything in between.
Fact is, if you want it to last: keep it charged (by driving, trickle charging or dancing around it in little circles) as much as possible.