I think there is a problem with semantics. Our 12v systems are not grounded, that is connected to earth ground. The "ground" is actually the negative side of the +/- 12 volt system. You are right, the frame is used as the return wire to the 12V battery. A ground is not necessary because the 12V system presents no danger to us. That is why we can touch both posts of a battery with no harm. Higher voltage direct current systems are grounded to earth ground with a third wire for safety.
120V systems are grounded to earth for safety reasons.
I believe that we should not use ground as a description for the negative part of the 12V system because it leads to confusion with earth ground. I acknowledge that it is hopeless to change that.