This is the major conundrum with all voltage sensing devices intended for use with lead acid batteries; the resting voltage of a lithium battery is higher.
For a trickle charger? Probably not a real problem as the actual amp draw is very limited and remember, in a camper, the batteries are rarely "resting." You probably have background draws, e.g. your refrigerator, running all the time, so even with a lithium battery, the actual voltage may be down a bit. (Danger Will Robinson! NO personal experience.)
A data point with regards to background draw in my particular camper (Lance 815). In my case, background draw is 1.2 watts...that's with the refrigerator off and no 12V DC devices plugged in, other than things that are hard-wired as part of the camper, ie, monitor panel, wireless jack control, etc. There are also two hard-wired, dual USB charging outlets that I added and I know those draw a few milliamps each. I don't have a radio or other entertainment devices installed that can have some background consumption, so nothing there. My older Norcold refrigerator drew about 10-11A constantly...100% duty cycle, but the new Vitrifrigo draws an average of 3.8A on a 25%-33% duty cycle, depending on temp and time of day.
For the last couple weeks, with the camper sitting where I park it, I've been logging my system parameters to get a feel for how it performs overall...both from a solar charging standpoint with various conditions and how much power is consumed by lighting, fan, charging devices and operating a fairly high performance laptop for photo and video editing. The last 24 hours (11am to 11am) saw a total power consumption of 198Wh with 169 of that being the refrigerator and 29 for "other" background loads. Granted, it was a cool night, but that's my absolute minimum baseline usage...and it being a totally clear day here, the two 100W solar panels had it topped off before I took readings at 11am.
To the OP's original question, I don't leave my truck batteries and the house battery connected when I'm not driving...no reason to do so, though the camper does have a built-in LVD that disconnects the camper from the truck when voltage gets below 12.8V and reconnects when above 13.2V. Though I haven't monitored how much power will flow into the starting batteries when they're fully charged, at rest they'll certainly be well below the Lithium battery until it would get near the end of it's discharge curve and I'd guess substantial current would flow into them. Given that when connected, the voltage the LVD reads is going to be the voltage of the Lithium battery, minus any voltage loss due to current flow in wiring between the Lithium battery and the LVD, the LVD will not disconnect until the Lithium battery is a good ways down the discharge curve.
So yes, devices that take this situation into account seem like a solution...but what is the problem? Is your starting battery weak...will it not start your truck after sitting a few days or weeks? Seems like a lot of expense and additional points of drama/failure to solve a non-existent problem...unless you see yourself relying on the starter battery to meet some of your power needs while camping.