I have fitted 16mm2 dual core cable from the main battery through a Traxide Tronics SC80-12 Smart Charger to the aux battery and a anderson plug mounted under the rear bumper. Charge is delivered to a Thumper 75AH Aux Battery Pack (which sits on the third row left hand folded down seat) and the caravan batteries when in tow.
Thumper 75AH Battery Pack
I use the power from the second battery to run the front mounted laptop, kids electronic games, phone chargers and a Waeco 45lt fridge. In the bush without driving, the fridge will last two days (who sits still for that long anyway).
This system has worked well for the last 18 months and I used the same unit in my last 4WD for many years. Eventually I'll mount the aux Battery under a false floor (when my oldest leaves the nest and I can move all kids to the second row).