No, electrical tape is not good for this.
You need a solar controller that is intended for this kind of "battery tender" service.
And you do not have to connect it directly to the battery; just to a point what is hot all the time.....and the negative to ground (chassis). There won't be a lot of current.
If you need to run a new wire, get a pair of SAE "battery connectors" from an auto parts store.
And finally......if you have the batteries fully charged and COMMPLETELY disconnected, they should sit fine for 90 days with no attention at all. If they won't, they probably need to be replaced anyway. If it gets really HOT where you are, 45 days might be a better benchmark.