I too use a trickle charge, a Maypole 4 amp. I started using after I noticed a bit a slow start during lockdown. Since I have continued to work from home, my S5 is used less, so now I have put a quick connector in the boot. I normally leave the charger in the boot and just plug the car into an outside socket. The boot closes fine with the flat twin wire for the charger.
My car is now like a nice sounding Tesla!
With a 4amp charger, well it slow charges to rejuvenate the battery and get rid of any crystal deposits on the plate up until 12.4 volts and then it pulse charges up to 4amps. This conditions the battery too. But to get it from 11.2 volts to fully charged which is 12.6 to 13.2 volts on an AGM, it took more or less a week of being plugged in. It's something like 1 amp of charge per hour, so a 100 amp battery will take up to 100 hours to properly charge!
Also I'm not sure if mine is the original battery, so I undid the 'sealed' plugs and topped off the battery. The glass mat still looked moist, but added distilled water to just ontop of the cells/glass mats. Yes you can still add water to sealed batteries. Most batteries fail when they get dried cells!
My S5 is currently sleeping with the charger, currently sitting at 13.2 volts.
So modern batteries need a good proper charge with a smart charger every now and then. The alternator tops the battery up, not actually charge it in the same way a smart charger like my Maypole or CTEK does. I also bought a cheap 10amp 7 stage charger which does battery reconditioning and pulse charging etc etc.