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If you "need" to replace the main battery then I would change the other. The only way to know its condition is to remove it and test it. I’m guessing it's not a deep cycle, but you could verify that with a little web searching.
Are the 2 batteries tied together in parallel? If so, it's best practice to replace both at the same time. I had a diesel E350 with 2 batteries. I replaced both with Odyssey Extreme AGM batteries at the same time. When I sold the diesel van, I removed both batteries and installed them in my 2 gas vans.
The reason I went with Odyssey batteries is that they are high-quality batteries made in the US. Installing batteries on Ford's frame rail takes some time. I thought I was going to do this once in 10 years. These batteries never failed me in the diesel van. The van would sit for a month and start like the batteries were brand new.
I paid $235 for each battery at Autozone. Shop online sales.
Are the 2 batteries tied together in parallel? If so, it's best practice to replace both at the same time.
No, these are not two starting batteries in parallel as is commonly found on diesels. This is an auxiliary battery, which operates independently of the forward battery.
No need to replace them in pairs, or even to have similar battery types.
No, these are not two starting batteries in parallel as is commonly found on diesel. This is an auxiliary battery, which operates independently of the forward battery.
No need to replace them in pairs, or even to have similar battery types.
I would buy a good AGM or deep cycle battery for the auxiliary battery. Of course, this depends on how often you use the van. We always have electronics plugged in. I have 2 AGM batteries for my solar system that are not tied into the van electronics.