You mention you have 2 deep cycle batteries for your boondocking. Depending if their size, and whether they are 12v batteries or two 6v batteries in series, you likely have ~200-220AHs of battery capacity.
The first question is: Are those batteries still good? Or are they at their end of life? If they are old and at their end of life, then getting new batteries is your first step. You can have them tested at a local auto parts store for free (usually).
Regarding solar panels...On a good, sunny day, a decent 100w panel can provide ~20-35AH back into your battery bank. An inexpensive, foldable Harbor Freight solar panel may produce a fair amount LESS than this.
It is a good idea for you to first figure out approximately what your actual battery needs are before starting to add solar. For example, do you find that you can boondock with your existing batteries (starting fully charged) for 3-4 days before they are getting low? If that is the case, then maybe you only need 100-200w of solar to help you extend that time to 4-6 days. Or, do you wake up every morning and your batteries are close to empty? In that case, you might need 400-600w of solar panels to get them charged back up the next day.
Here is a good tip to save a LOT on adding solar...Buy used solar panels. As long as you test them with a volt/amp meter before buying, you will be able to buy 5-10yr old solar panels for $0 to $50 each, saving you 60-90% on your panels. Solar panels have no moving parts and can last a long time. For example, I bought/installed several 250w residential panels that only cost me $35 each and they work great. Depending on what part of the country you are in, solar panels can be found easily on craigslist or facebook marketplace.
To answer your specific question.... There are some "toy/junk" solar panels that are very low power that you could probably hook up directly to your battery terminals. I've seen some 10-20w panels for this. They could possibly be useful for putting a very small trickle charge on your batteries for when in storage. That 100w Harbor Freight panel might be similar (it will show you on the packaging). But if that is the case, the entire setup will be very low power (basically junk) especially if you are thinking about using it for boondocking. The proper way to add/use solar is to get proper solar panels (new or used) and then hook them up to a solar charge controller (there are different types depending on the voltage of the solar panels) and then the output of that solar charge controller hooks up to your batteries. The solar charge controller will properly adjust its output voltage and charge your battery correctly (as opposed to a flimsy solar panel with alligator clips to go to your battery). If you hook up a solar panel's output directly to your batteries you could damage your batteries.
Good luck!
Chris
San Jose, CA
Own two 2015 Thor Majestic 28a Class C RVs