which will limit how well you can charge due to voltage drop
Not necessarily. The amount of voltage drop depends on the amount of load.
As the battery fills up, the resistance rises, and the amp flow goes down.
As the amp flow (the load) becomes less, so does the voltage drop.
So voltage drop isn't that critical when charging a battery that is drawn down a good ways, and it becomes less critical as the voltage of the battery rises, and the amp flow and voltage drop become less.
As long as the wire size is sufficient to eliminate the voltage drop
near the top of the battery's charging cycle - say if the wire is big enough that there is no voltage drop with a voltage above 14v and amperage under 3a - then the battery will get to its full charge voltage anyway.