YOU ABSOLUTELY DO NEED A DC-DC CHARGER !
Prove it to yourself. Start your truck. Check the voltage at the battery. Immediately after starting it should >13.8V. Let the truck idle for about 10 minutes and check the voltage again. Probably <13.2V ! Have some one hold the engine at a high idle. I'll bet it is still <13.4 !
13.2V - 13.4V at your house battery bank will not let it discharge but it will NOT re-charge the house battery bank !
I don't need one but would like to have one for faster charging. My truck will recharge my battery faster than 10a/hr even when running the fridge on 12V. Now I did upgrade the wiring from the truck battery to within 10" of the camper battery to #2 and go through a 175A Anderson connector which helps greatly.
Most modern alternators have over 75% capacity at idle. The old days of having to rev the engine for a good charge are gone. At idle, my alternator turns 3,000rpm thanks to pulley size which is 90% of it's 220A capacity so has plenty of output at idle.
Now, I would like one so I can recharge a dual battery bank at 40A/hr when I upgrade my next camper to a DC compressor fridge as I hope to sit more and drive less.