I've been looking at this charger for our van build as well, so am following. I've also watched many of the Will Prowse videos and remember some cases where if the Lithium batteries have their own internal temperature sensors, the BMS will usually handle temperature range protection. This means that you don't need to (or perhaps should not) use the temperature sensor input on the charger.
It looks like you may be using that input. If your environment is within normal charging temperatures for the battery at minimum you could test by disconnecting that sensor in case it is not working correctly. That may explain why it seems to charge on SLA, but not Lithium. I think the temperature sensor only comes into play for Lithium, so likely the charger ignores it when set to SLA. If you have not watched, I would check out the Will Prowse review of that unit and perhaps the one where he opens up the Renogy battery to show how it works.