It sounds like your panels are exceeding your camping requirements and that is a good thing.
Your posts kinda suggest that your solar isn't able to exceed 14.0V. If so you might want to consider a charger that will and they are easily available. They are available online, auto stores, etc.
You should get a lot of useful life by continuing to use the maintainer even though it may not be perfect for the battery. One of my cars is on a maintainer 6 months of every year and the battery is doing great after many years. Of course the alternator will kick up the voltage for the other 6 months.
