Hi Gavin,
Yes it is possible to charge a second battery in a car, BUT never use the cigarette lighter socket.
a box should be installed and secured in the boot area that to prevent movement and which ventilates to the outside. The battery to be charged must fit inside teh box and also be prevented from moving.
A cable should be made up with clips for connection to the battery but must also be externally insulated to prevent short circuits in they are not clipped to a battery.
The leads conductors should be at least 1.5mm csa and fused in both positive and negative conductors, and the other end should be wired to the neutral and the split charge relay contacts in either a 7S plug, or a new 13 pole. The lead will normally pass through the soft rubber seal of the boot/tail gate lid so it can be plugged into the cars hitch sockets.
The cell caps should not need to be removed (just as in the caravans battery locker)