A battery sized for a diesel truck can easily accept 10 amps. A depleted battery sized for a Diesel truck can easily accept 70 amps.
I regularly feed my group 31 deep cycle battery with 41 amps. I have seen my alternator feed it 75 amps.
I have a group 27 Northstar AGM battery. When depleted, I have seen this accept 110 amps from my Alternator!
Don't fear a 10 amp charger on this size battery.
Most battery manufacturers who make deep cycle batteries have a recommended rate of about 10% the capacity of the battery (at the 20 hour rate) Trojan recommends 10 to 13%. UsBattery recommends 10%, Odyssey recommends no less than 40% on a deeply cycled Odyssey AGM battery!
So a 100 amp hour battery, which is about the capacity of a group 27 battery, which is likely the minimum size used in a diesel truck, would be a recommended 10 amp rate.
Starting batteries are made for higher discharge rates than deep cycle batteries, and as such, can also accept higher charging rates due to the thinner more numerous plates within each cell.
It is the battery itself which determines how much amperage it needs to be held at a certain charging voltage. The smart charger is applying its amperage and keeping the voltage from rising above a certain level. As the battery nears this maximum voltage level, the absorption voltage, then amps begin to taper.
Do not fear a 10 amp charger. Do not fear a 25 amp charger on a group 27 battery. Do fear the trickle charge mentality. Trickle charge is generally 2 amps or so.
12.4 resting volts equates to ~ 60% state of charge on a healthy battery, so 40 amp hours shy of full charge on a 100 amp hour group 27. At 2 amps it would take 20 hours to fully charge the battery, IF there is no tapering of current as battery gets above 80% state of charge.
There will be tapering.
Also, on chronically undercharged batteries, voltages as high as 16 volts can be required to return the specific gravity to the maximum. A group 27 battery rated at 100 amp hours would need at least 5 amps of current, after a normal "full charge" to raise the battery up to 16 volts.
Technically, low and slow is the least abusive way to charge a battery, and people seem to love the word 'trickle' when charging batteries, but the fact is that batteries can easily accept large currents when depleted, and 10 amps into a 100 amp hour battery is nothing for it, and it is the recommended rate by the battery manufacturer.
A "trickle" charger might not ever go over 13.6 volts. It is generally accepted that a battery needs time at absorption voltages in the mid 14's to get above the 80% charge level.
A trickle charger might never get the battery that high, might never be able to return a batteries specific gravity to 1.275 or higher, and will likely never be able to actually fully charge a battery, and certainly not an abused sulfated group 27 battery.
After a jumpstart, a depleted battery will suck up everything the alternator can make, until battery voltage approaches absorption voltage, or the maximum voltage the voltage regulator allows. This can easily be 60 to 80 amps for a depleted group 27 battery rated at 100 amp hours capacity.
Manual chargers employ no voltage regulation. A 10 amp manual charger left on a battery too long can indeed overcharge it, but battery resistance will reduce amperage to about 5 at 16.5 volts. But this is too high and will cause excessive bubbling and water loss. Shops trying to quick charge batteries use at least 50 amp manual chargers. They would laugh at 10 amps unless the battery is something tiny, like for a 1.5 liter 4 cylinder. Certainly not a 55 LB group 27 battery for a diesel.
A steady 5 amps applied on an abused and sulfated and depleted 100 amp hour battery until 16 volts is reached, stands the best chances at safely redissolving the sulfates back into the electrolyte and restore maximum possible remaining capacity.
10 amps on this size battery is nothing and I would consider it to be the minimum amperage to apply, unless one had a constant current 5 amp charger and the ability and time to monitor voltage and Specific gravity.
I'd personally put this OP's battery on my 41 amp power supply after making sure none of the cells plates were exposed to air. If they were i would fill them with distilled or deionized h20 until the level just covered the exposed plates and no more. Then I would set the power supply voltage to 14.7 if the battery was 77 degrees fahrenheit, and attach the clips to the battery.
Higher charging voltage at lower temps and lower charging voltage at higher temps
After the amperage tapered to ~2 amps to hold 14.7volts, I would raise the voltage slowly until the battery was accepting 5 amps, and keep raising voltage slowly not to exceed 5 amps until 16 volts is measured at the battery terminals.
I would take hydrometer readings every 10 minutes holding 16 volts, accounting for temperature and rising electrolyte temperature, and I would stop charging when electrolyte Specific gravity quit rising, or when battery temperature approached 120 F.
This is a proper equalization procedure on a 100 amp hour battery, and stands the best chance of safely and timely restoring an abused chronically undercharged battery to maximum capacity and performance.
Then I would do the same to the other battery. Top off electrolyte in both batteries with distilled or deionized h20, then Install them in the truck.
http://batteryuniversity.com/learn/article/charging_the_lead_acid_battery