Afternoon does not mean crack of dawn. 5-7 amps for 3 hours is 21 amp hours max. This is hypothetical balderdash and has nothing to do with reality.
If the panel is switched and dedicated, UNCONTROLLED directly from the panel to the battery the battery will have a chance to enjoy a modest snack.
My opinion is based upon actually doing this and not on theory. Try four feet of eight gauge jumpers and 50 amp solid copper Mueller clamps.
A better idea is to charge with a DC to DC converter. Huh? Yeah, Huh! it's going to rob some kWh out of the main house bank but hey what are friends for?