So lets consider the facts and remove the Mercedes bit
The only truth is that the AGM battery tech is more sensitive to overcharging, in theory the float voltage needs to be a few hundred mV lower then for that of a standard Pb battery.
However, the chargers people have are very low current (I see 4A ish max being quoted) and on float they will be putting in, at best, 1/10th or less of this. So they wont be an issue and are not like the massive things on wheels we have at work.
As for the secondary battery in Mercs, they are for aux systems and designed to be deep discharged (they are in simple terms a mini leisure battery), they only charge when the engine is running. So keep the main battery topped up by the jump start terminals (do NOT go straight to the battery terminals) and when the car is running next, it will top up the aux battery