Open Cell (removable caps) Flooded Lead-Acid (FLA) batteries vent hydrogen and oxygen whenever they are being charged. They must ALWAYS be vented to the outside.
Sealed lead-acid batteries (known as VRLA or Valve-Regulated Lead-Acid) of all types (Flooded, AGM and GEL) only vent hydrogen and oxygen when they are *over*charged. The buildup of internal pressure causes the pressure relief valve to open and hydrogen and oxygen then escape.
Once that happens, the battery has lost some of its electrolyte (sulfuric acid diluted with water) - and since it's sealed, there is no way to replenish the lost water. Thus the battery is now on a downhill slide to failure (which can take a long time).
Overcharging generally consists of holding the battery at too high a voltage for too long, which causes the battery to get too hot.
So...
Technically, you don't need to vent a VRLA because it doesn't vent anything unless overcharged.
BUT...
Technically, you are supposed to vent any lead-acid battery - even VRLA because something could go wrong and it could get overcharged and vent.
And hydrogen + oxygen = rocket fuel. Or, a fuel-air bomb.