When it comes to charging deep cycle batteries from an automotive alternator - there IS no cheap way to do it correctly - that I know of.
There are "battery to battery" chargers made for that specific purpose but they are very pricey. Used mostly for marine use. The charger hooks to the starting battery - and converts that into a voltage and charge sequence that goes to the RV battery (or battery bank). Basically - it's just a 12 volt deep-cycle battery charger with a 12 VDC input instead of 120 VAC. Last one I looked at was over $400 and not worth it for an RV with a few deep cycle batteries.
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