You indicated one power source - the alternator - and two power sinks - a chassis battery, and a LiFePO4 battery.
Presumably the alternator and chassis battery are already wired to charge the chassis battery when the motor is running.
Charging the LiFePO4 batteries with an automatic battery switch would solve the second part of your question. Look for "Dual battery isolator" for a lot of products. These allow a great deal of charging current to flow, much more than a trickle charge.
It sounds like, if I'm not mistaken, you want to then charge the chassis battery from the LiFePO4 battery when the alternator isn't running?
When the vehicle is off, the loads on the chassis battery shouldn't exceed 1A, so the simple solution is to have a 1A 13.5v current and voltage limited regulator coming from the LiFePO4 battery. There are a lot of solutions for this, most under $20. Look for "Buck boost 12v converter". Make sure you can set both the voltage and the current limits, that way if you do leave on your headlights you'll only drain the LiFEPO4 batteries at a rate of 1A. Look for one that has "anti backflow" protection, such as this one:
This prevents the regulator from going crazy when the alternator is on and the output of the regulator is being driven to a higher voltage by the alternator. If your DC-DC converter doesn't have this, a diode can be used, and you'd set the voltage higher to account for the diode drop.
Honestly, though, I'm having a hard time understanding the reason for the second part of your requirement. You shouldn't have to float charge it unless it's going to sit unused for more than a week or two unused. If you find that you do, then you have loads on it that should probably be on your other battery. Needing a float charger usually indicates there's some other problem that should be resolved first - unless it's simply that you plan on not running the vehicle for several weeks at a time - and in that case you really should run the engine for 30 minutes every week or more anyway to keep things lubricated, which would also manage the battery drain.
At any rate, no, there's no all in one device, and I wouldn't hold my breath for one. Your use case is unusual. Further, there's no advantage to trying to create something that does both - the first requirement has a huge current passing requirement, but no voltage conversion, so it's literally a switch controlled by the voltage - if it's above 13.5v then the alternator is running, and the switch is on. If it's below that then the switch is off because the alternator isn't on, or isn't supplying enough power to charge the second battery.
The second requirement does require a voltage converter, since you only want trickle charging, and the LiFePO4 battery is likely below the 14+v needed to account for a diode or regulator vdrop even when it has most of its energy left. Otherwise you could just use another switch to allow the batteries to charge/discharge to the same voltage level.