No, like all batteries Lead Acid batteries don't like being held at 100% at all times, which is why maintenance chargers use strategies like slow pulse charging (eg AMT12), or letting the battery fall back in charge before gently charging again (CTEK in long term maintenance)
Is this the heaviest activity that can cause battery wear? No heavy cycling and discharge below 50% will do much more wear and damage.
In the majority of vans on this forum that are sitting for a while will tend to be leisure based vans and highly likely to have leisure battery. That battery is the one that's going to take the wear anyway and the one that having fixed solar while camping is most useful so it's the one that's more suited to solar charging - because these chargers start fresh every day none of them to my knowledge have any maintenance approaches.
Then use a charger specifically designed to maintenance charge a starter battery to keep that in a healthy range.
There is a very advanced charging system built in to your vans electronics, it's best to work with that and not fight against it. Forcing 100% charge into the starter is going to be wasted effort the first time you start the van and leaving a high current DC-DC charger enabled to cascade the excess charge in to the leisure battery is risky, it will very quickly drain a starter battery if it makes a mistake.
That doesn't mean maintenance charging is the wrong thing to do. If you have a single battery van that sits for weeks solar is better than being stranded, but if you can charge with a mains based maintenance charger with a proper long term storage phase your battery will last longer.