A far fetched idea.

Since your battery went dead because you left your lights on, the light switch should still be on.
According to the manual, the side marker lights are removable from the outside, to replace a bulb.
If so, you could access the socket, and feed current to the system.
But don't screw up on the positive/negative!!!

I have no idea if this would work. I would only try it if I had the car at home, and the freedom of time to do it.