^^^^^^^^^ This is the way !
As stated your 140Amp Split charging relay will be fine.
140Amp is the rated maximum throughput of the relay.
120Amp on the Aux battery is the theoretical maximum constant output of the battery, but it will not charge at 120amps,
Without going into Kirchhoff‘s laws your relay and battery combo will be fine, just make sure you fuse it both ends, one reason being is that if your live cable ever got damaged say in an accident and shorted to ground(ground being the body of the van) you‘ll short the batter and as stated above risk a significant fire.
The OP, perhaps due to his admitted lack of technical knowledge, incorrectly gave the repective battery ratings as 110A, and 120A. These are battery
capacities, and should be stated as 110Ah, and 120Ah. This lax terminology is potentionally
dangerous. The starter battery in particular will deliver several hundred Amperes into the starter motor. The short circuit current of this battery could be several thousand Amperes, and which would have the ability to start an electrical fire. The auxilliary battery, if of the leisure type may have have a higher internal resistance, and hence lower short circuit current, but it will still be far above 120A.
120Ah means that in theory you could draw 1.2A from the battery for 100 hours, before it was completely flat. However in with the aim of preserving battery life, it is generally recommended not to exceed 50% depth of discharge (DoD) with lead acid batteries.
As an illustration, the habitation battery of my PVC consists of two 105Ah dual purpose batteries in parallel, which are separately fused. Each battery has a rated CCA (cold cranking Amperes) of 1000A. The possible short circuit current would be much greater that that.
I fully endorse the advice given by
@jackwhoo in post #9 above, and saw no need to add to it