Willow, don't be afraid of Deep Cycle lead-acid batteries, especially if you already have two mounting locations and wiring to use them. Do you know if your vehicle has a relay that connect the house battery to starter battery with the vehicle running and disconnects with it off?
With proper charging voltage, the electrolyte level seldom needs distilled water added. For decades, inexpensive specific gravity testers have been used to determine state-of-charge. They can identify a weakening cell to show a need for a higher charging voltage for equalization voltage, about 14.8.
An inexpensive digital DC voltmeter and ammeter, greatly helps. If your alternator charging voltage ranges from about 14.0 to the high fourteens, you are good to go for lead-acid and so-called drop-in lithiums. Some newer vehicles do not provide sufficient charging voltage long enough, mainly for possible fuel savings, hence bullfrog's comment about needing modification to supply recommended charging voltage.
In the fifties, I saw analog ammeters on vehicles, then idiot lights, and now analog voltmeters. Now that digital voltmeters and digital ammeters are inexpensive and accurate, I don't know why they are not both provided, especially on factory built vans and campers.
For lead-acid, there must be enough voltage to charge, and charging current should start high when discharged, then drop. Most typical group size wet lead acid and AGM, mid to high 14vdc, about 30-40 amps initially, then drop to about two amps when fully charged.
Some people don't like to have possible off-gassing from a lead-acid in their living quarters.
I use Walmart deep cycles for both starting and house in my van. I've retrofitted a few dozen in golf carts to get away from 6 and 8v batteries for light users. Some are still good after six years.
Lithiums are great. I use multiple 30ah small ones due to trust issues about anything manmade. Even a 100ah, with a current output limiting BMS cannot run my loaded 2000 watt inverter to give me a typical 120v, 15 amp source due to high current shut down. Lead-acid and AGM can. That same 100ah lithium will demand more charging amps than my alternator can provide for the length of time before that battery is charged. If a single 100ah dies, you're done.
Lead acids and AGMs highly resist being charged, as mentioned above when you watch the charging amps quickly decrease. That makes it much easier on your vehicles alternator.
Lifepo4 lithiums demand to be charged. Without a BMS to control charging amps, they can be hazardous to your alternator. You have to look at the charging voltage, current, and maximum amp output given by the manufacturer.
Picture shows digital voltmeter and ammeter, both from Amazon. Bayite DC hall effect ammeter reads voltage or current, or displays back and forth. The flashing is annoying. Multiple cigarette outlet and USB plug device will show alternator voltage.
For charging from a 120vac source, I have three 30 amp power supplies, adjustable to almost 15vdc. Crude, but effective. About 30 bucks with no wiring. Ammeter to adjust charging voltage to amps desired.
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