I can't speak specifically to the Xantrex, but in my 2014 Pleasureway Plateau TS I have a Power Dynamics converter. I contacted Power Dynamics directly on whether this was OK--especially since I have changed my auxiliary battery from the original Group 49 to two AGM GC-1 batteries (after making my own underhood tray). They said there is no problem at all in doing so, and that their converter is fine for the batteries to leave plugged-in year-round whether the batteries are AGM or FLA.
I also keep a Battery Tender connected to my Group 49 chassis battery (the one under the driver's seat floor) year round as well. Since I have the coach plugged-in via the converter (keeping the coach batteries charged), the indoor 120VAC outlets are active, so I plug the Battery Tender into one of those outlets, and have the pigtail from my battery protruding next to the parking brake lever. This seems to work pretty well for me.
If you have questions with this, I recommend that you contact Xantrex and ask them specifically--and mention the specific model of converter you have to get their opinion. (And, of course, please let us on this forum know what you find out!)
Rock Doc
2014 Pleasureway Plateau TS in 2013 Sprinter 3500