From what I understand it is because the battery has very low resistance nearly a short circuit and it will take whatever the alternator can produce and the alternator has no limit on the output, it is designed for lead acid. Heating will happen in the winding of the alternator and when it can not dissipate the heat fast enough it will overheat.
I watched a guy explaining how he could parallel lead acid with LifePo4 and have the LiFePo4 do most of the early heavy lifting with the lead acid doing more when the LiPo4 was nearly empty. Even if that works (I have no idea if it does or not) I don't think you would want to do that with a small car battery. I wonder if you'd burn out the starter motor. My guess is that you want to isolate the two batteries either with a battery to battery charger, a second alternator designed for LiFePo4, or something else.
Again from what I have seen, you can install a second alternator dedicated to charging the house battery, but a more cost effective solution seems to be to get a battery to battery charger. They should sense when the lead acid vehicle battery is charged and only then turn on the charging for the house battery, as well as limit the current drawn form the alternator. If the battery to battery charger has a remote on/off the SBMS0 can control that, or else you can add a relay or potentially a DSSR20. When you are driving, you will be burning a little more fuel to charge the battery a little, but that might be enough so you do not need to run a generator when you get to your destination.
Again, thinking out loud, please correct me if I am wrong.