A leisure battery is better for the WFP system.
The Two batteries are designed with different discharge characteristics. A leisure battery is designed for long slow discharge over a period of time. A car battery is designed for a sudden rapid discharge of volts in one short hit when the engine is started.
Remember you will still need to do an additional charge every two three days. The relay will only trickle charge the battery, dependent on how far you travel.
Not had to charge a battery in 3 vans over 5 years with the split chargers I use.
Which ones do you use ?
Raw Components split relays, which unfortunately are no longer trading, however, they are available from Grippamax, if you speak to Oliver there, he will assist.
I have always used 110a Leisure Battery, and never had to charge them, in 4 years, on 3 vans. Replace them about every 2 years or so when they won't hold a charge.