A few ideas below. What you are thinking of is not wrong, here are some things to consider.
I've had good luck with 3M double sided adhesive tape and flexible panels. I recommend this. Use a lot of it, almost a whole roll per panel. Do the whole panel outline plus a couple strips in the middle. The good news is no holes in the roof, and much less wind resistance than glass panels with frames and brackets and so on.
Flex panels, the bad news is that they are less efficient than glass panels. And many of the Chinese ones do not meet their specs, a claimed "200W" panel may be 100 - 150W in reality. YMMV but that's what I have measured. Panels from Harbor Fake will be even worse. I can tell you how to measure the actual output if needed.
You should set the truck up so the alternator charges the "house" battery when you are driving, but the house loads cannot drain the truck starting battery. A properly chosen diode is the $10 DIY solution, or buy a 'battery isolator' made for the purpose. Anyway my point is that if you are driving every day you don't need much or even any solar panel to keep the batteries charged. Where you need solar is when you are in camp for a couple days.
Two 12v car batteries, I assume in parallel for 12 volts, is not the best choice but it's not terrible especially if they are new and free as you said. If you have to buy batteries, two 6v golf cart batteries in series, about 200Ah, will be much stronger and last much longer. $99 each at Costco. Don't forget to check the water occasionally.
We haven't talked about the 'solar controller' or charge controller but that's an important part of the system. Some of the cheap ones that come in bundles with panels on Amazon are junk, they kinda work but will not fully charge your batteries. I have tested many. Renogy PWM controllers are the least expensive solution I recommend. If you need to get the maximum power from your panels then you need an MPPT controller, and Renogy now makes some that are close to $100 and work well. But in your case when you are driving often, solar controller performance may not matter so much to you.