It will take a very long time to fully charge the batteries at less than 13 volts. I would hook up a voltmeter to the cigarette lighter and keep an eye on it while driving. It should show at least 14 volts most of the time. A DC clampmeter would allow easy measuring of the current flowing into a battery. If only 1 amp it would take 115 hours to charge the 230 amp-hour battery from 50%.
Could be a tired alternator, battery or trouble in the wiring. Try disconnecting the house batteries and see if the engine battery gets higher voltage and more current. Try a known to be good battery, have the battery load tested, compare voltage at the engine to voltage at the house batteries - voltage drop larger than half a volt: try to find the poor connection.