Buy a hydrometer and after a typical day/night use measure the SP and then lookup the SOC. Lets say it's 25% discharged and your batteries are 230AH. Since you used 57AH that would be a starting point to size the solar system.
A 140W panel might produce 10A in an ideal condition lets say for 5 hours. That's 50AH and since ideal doesn't happen lets say you get 25AH. You need 2 of those panels.
I would like to get the best solar panel recharge system out there.
For you 1 panel might be the "best" or perhaps 4 panels. There are many variables.