Either of those 2 panels will do the job.
You will need a small regulator or controller to prevent overcharging.
Assuming your batteries are connected into the charging system of the 4WD with an isolation diode, if your batteries are reading 10.8v on a half sunny day with no load draw on them, then they are dead flat & shouldn't be.
If they have been slowly getting worse, they are probably dying.
The 4.5W solar panel you have been using to keep them topped up may be far too small for their capacity & your usage.
The first thing I'd do is charge them up fully with what ever charger you have, then see how they test up.
If they are still in good shape after fully charging, they should have an OCV of 12.6V or slightly higher for some types of cell.
OCV = Open circuit voltage, means no load or charging device connected & should be measured no sooner than 30 min after disconnection of charger &/or load.
The cells may need an equalisation charge to recover them if they have been tortured.
Another thing to look into is that a lot of deep cycle batteries are manufactured as stationary batteries & not intended for vehicle use as the constant movement will damage them.
If you need more help, some more info would be helpful.
What size are the batteries?
What age are they?
Are they connected into the vehicle charging system?
If so, are they correctly isolated by a diode?
What type & size of load are they used for? ie; fridge (constant draw) or camp lighting (occasional draw).?
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