If you don't want to trickle charge, and don't plan to have the solar panel in full sun often, you might want to consider a relatively new idea here: disconnecting the current sensor from the battery's negative terminal. This is still in the mostly-talk stage, but it appears the sensor is an unnecessary carryover from ICE-equipped vehicles, and it may be the culprit (or one of them) in the 12 volt battery undercharging issue. My personal feeling is I'd want to be able to switch it off when doing short trips and back on for long ones (especially in warm daylight), but as I said, it's mostly talk at this point. In any case, if the battery is older, get a new, better one, preferably at least "marine" in designation. I see little need for an expensive lithium battery.
<Cue Arnis>