I spec this, for always on loads in vehicles.
It might be a bit of an overkill for a hammy radio in a personal vehicle, but this device takes shoreline power and powers loads (this model to 20a @ 12v) completely from shoreline, and reverts to alternator/battery power when the engine is running. It's expensive, it's not small, but it's reliable as hell and i've only had one fail from someone accidentally dumping cleaning chemicals directly into it.
Couple this with a Lind low voltage/timer cutout, and you'll be good. I would advice against using a battery charger to float a load on your car battery, they're not designed for that.
If you're serious about doing this, and you want it to "just work" and at the same time have your car start every time...doing it once, doing it right is the only way.