Charging Caravan Battery from Vehicle

I have a heavy duty wire running from my auxiliary battery to an Anderson plug at the rear of my vehicle. I used to use this arrangement to charge the battery in my previous caravan which came with an Anderson plug set up to suit this arrangement. My current caravan did not come with an Anderson plug and cable to charge the caravan.

My question is:
Can I run a cable to connect to the vehicle anderson plug with the other end directly connected to the battery terminals or does it need to have some other arrangement.

Cable thickness is well understood, as is the need to install a circuit breaker close to the caravan battery.

Thanks
wbs
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