Absolutely yes every time. If you're considering running an electrical cable somewhere on a vehicle, it MUST have a fuse as close as is reasonably possible to the source of that power.
Don't forget that light cables lose voltage quite a bit - we had 6mm cable (supposedly rated for 60A) running our fridge about 5.5m from the battery and the voltage drop was somewhere over a whole volt. Changed to 8Ga cable and the drop is down to 0.3V.
Your car is 6m long and there'll be at least another 2m of cable from the back of the car to the battery in the van, so you're in a considerably worse situation - and will have to compensate for that somehow. There are three ways primarily used.
1) Voltage Booster. This is how they did it in my caravan before I discovered it and tore it out.
2) DC-DC Charger like C-Tek D250S or the RedArc equivalent (get one with a solar input). Both are good, neither produce lethal voltages.
3) Invert the incoming power and use a mains charger on the battery. Perfect charging every time, use the inverter to drive power for the fridge/whatever at the same time and the battery will unload, making the charging process even cleaner. The caveat - lethal voltages. Stuff it up, have an accident, use a non-electrically-isolated inverter - any of these things will stand a chance of killing someone. Inverter output is as nasty as household power but without the RCD to protect you.