I'd plan on changing them.
in my very limited experience, once a starting battery is drawn down too low like that, it will never quite be the same. A couple times my wife left some lights on in her car, reasonably new battery each time, but in at least one of the cases I couldn't get it to hold a charge at all, and another case it did recharge but to a noticeably reduced capacity. Basically once or twice down past zero like that and they are completely gone....starting batteries or the marine/RV hybrid types....
I'd say that if your house batteries are golf cart types they can handle draw downs to maybe 30% or so (I can't recall the exact number Trojan published in the manual I read) ...they might take a usable charge, maybe, but will be compromised going down that low (past "0%")and won't have nearly as much capacity.
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