2003 dead battery overnight

I have a 2003 Envoy XL SLE 2WD. I always turn off accessories before turning engine off. I have had this vehicle for 4 years. A couple days ago I went out to start it in the afternoon and the battery was dead. I hadn't driven it in only 2 days. I had to have it jumped and it started up after maybe 3 min. or so. But, unless I start it up and drive around the neighborhood every evening, it will start sluggishly the next day. Do I need a new battery?

Uhh, how about having the battery tested, no?