It *does* take "multiple hours" to charge lead-acid without damage.
Your car battery charges quicker, but its service life is shameful. (Also we rarely run a car starter battery way-down, the way the kid drives the Jeep until it won't budge.)
Fast discharge is also bad.
Ideally you use the 1/10th AH rule. In other words, it should take 10+ hours to get a full charge, and 10- hours to use it up.
Since the discharge rate is fixed, what you need is a battery so big that it runs near 10 hours, delivering about 1/10th of its rated AH. I'll guess the Jeep averages 10 Amps, so you need a 100AH battery. The batt in my plow-truck is 56AH, so you need twice that. Aside from cost, the weight is near 100 pounds. This may *double* the cruising weight, hurting performance, and incidentally raising the Jeep's demand to more like 12A-15A.
And the motor cooling is probably selected for short run-time of the original battery. Zoom for 30 minutes, charge for 4 hours. Extend that 30 minutes to several hours, the motor may melt.
You are finding out why we don't drive lead-acid electric cars.
Magic-Ion batteries are somewhat better, more expensive (especially one at a time), and demand very fussy charging or they get sick and explode.
Gasoline is the answer. I saw a neat 650cc 4-wheel the other day.