Some observations:
The word lithium appears to be used in the generic sense for more than one type of lithium related battery, it is important for safety purposes, for charging regime purposes and for several other reasons that the choice of battery type should be specific.
In brief:
e.g. Lion (lithium ion) is not as safe in use as LifePo4 (lithium iron phosphate), if making a choice then LifePo4 is superior to Lion for many reasons.
For various reasons as given by the OP I can only recommend LifePo4 as being the best choice overall.
LiFePo4 batteries do not require venting or require special enclosures.
The various 'Lithium' battery types have different charging requirements making the choice of battery charger very important.
Lion and LiFePo4 characteristics
Battery charging:
The existing battery charger can be replaced using a modern smart charger, there are many to choose from; CTEK has a good reputation (I happen to have one and I like it very much), however I can also recommend both the Noco Genius 5 and the Noco Genius 10 (again I have both and am very pleased with them).
The Noco Genius 10 (10 amps as opposed to 5 amps for the Genius 5) would be more appropriate on a 100 Ah battery, there is a cost disadvantage over the Genius 5, the Genius 5 will do just as good a job albeit more slowly.
Dimensions and weight of battery:
LifePo4 batteries can be housed in cases that have smaller dimensions than traditional lead acid batteries, it is worth checking the various manufacturers data sheets, LifePo4 is approximately half the weight of conventional lead acid batteries.
Where there are strict limitations on space then there are now options for "Mini" 100 Ah LiFePo4 batteries, there may be a cost cosideration. LiFePo4 battteries have come down a lot in price and prices continue to fall.
For standard (non mini) sized LiFePo4 batteries, there is much competition, it really makes lot of sense to shop around and do your research as to what is best for you, prices can vary considerably for what is essentially the same product.
e.g.
Mini example 1
Mini example 2
Positioning and location of LifePo4 batteries:
LiFePO4 batteries can have several mounting positions. While these batteries are commonly mounted vertically, horizontal and side mounting orientations can also be considered (refer to manufacturers data sheet).
Charging the battery off-grid:
I have just recently moved from rigid solar panels to portable and flexible solar panels housed in a home made lightweight adjustable frame (32mm plumbing waste pipe).
For LiFePo4 a solar charge controller with LiFePo4 setting is necessary,
fortunately these are no longer expensive.
Portable panels give significantly superior solar harvesting results compared to rigid panels that are usually in a fixed location, i.e. the roof.
LiFePo4 batteries, solar charge controllers and portable solar panels can be taken with you to different locations or transposed to another vehicle\caravan.