The standard answer is -" it depends"
On - how low you ran down the house battery
How large ( in amp-hours) is the house battery
How old is system.
How many amps does your altenater put out
And so on. I have two dual purpose deep cycles in my bus, one starting and one house. They are both charged by the stock 90 amp altenater when driving or idling. To give an example with an actual number to you, it takes a little over an hour to FULLY charge my house battery from about 11.5 to 13.6volts. I
I have a little 1.5w solar trickle charger in my windshield that constantly charges my starting battery. I got it on sale at home depot for $10, but have seen it elsewhere for $17.99-24.99. It helps. My $179 harbor freight does a decent job of keeping my house battery charged, but I drive fairly often, and don't use a lot of power when stopped.,andI am not a full timer either, but that should give you some idea.