Short answer - DC-DC charging works great if you have a modern DC-DC charger. Old school ways are no longer acceptable.
In the really old days, when lead acid was the only choice, some people would directly connect the rv battery to the vehicle with a straight through cable. That worked, it would charge both batteries, but had a lot of down sides. Any short or draw would kill both batteries. The batteries had to be fairly well matched in capacity and age, or one would draw from the other. 2 batteries in parallel are a finicky thing.
To get around that, people then started installing relays and isolators. This helped get around the problem of one battery/vehicle having a problem and draining the other battery. But you still had problems with battery mismatches. Voltage drop over long runs was also a big problem as the rv battery would fail to full charge. This is why you can't just hook lead acid to lithium directly. They have very different voltages and internal resistance.
Then we get to actual dc-dc chargers. These handle all the previous problems. They isolate the batteries so one doesn't drain the other. The also boost the voltage at the RV battery to compensate for any voltage loss. Older dc-dc chargers can't handle lithium batteries.
But most of the newer ones can. Think of them as smart chargers. Newer ones will also limit current flow, which is critical as lithium batteries have low resistance. They will put a huge current draw on your vehicle alternate/battery and can do damage if not limited. Lithium batteries also need higher voltage than lead acid, so the dc-dc charge will give an extra boost in voltage up to what lithium batteries need over lead acid. Newer dc-dc chargers are needed to deal with smart alternators that can vary their charging, so that the rv batteries charge only when the vehicle is running and the alternator voltage is high enough to charge