15 miles is nothing .. put it on charge overnight with a "proper" agm charger .. it "might" recover... but it might not ... always worth a try IMHO
To put in context ... a 95AH battery is "flat" at about 50% charge ... so call it 40 AH.. therefore it "needs" 45 AH of charge to be recharged to full. An alternator will shove out a max of about 20 amps into the battery .. so in 15 mins you have put back 5AH !! well short of acheiving anything !