With ours I put the second battery in the front left corner of the truck bed ahead of the wheel well. I cut a hole in the camper lower side up there and installed a plastic "cable hatch".
I parallel linked the two batteries through the cable hatch so they were close together, and I was able to also pass a wire out to the second battery for the load/charge to its neg post, while the inside battery had the pos load/charge wire.
If they are that close and with low amps (under 20 say) #6 should be fine. With an inverter to run 120v things you will want #4 links even though they will be shorter than now.
When loading the camper, you get it in past the wheel well, then pass the wires so you can still see the second battery, then slide it in all the way. VV unloading.