LiFePo batteries have a charging voltage that coincidentally works out to 1.5 times higher than lead-acid, so a 4-cell LiFePo has the same (close enough) charging voltage as a sealed maintenance-free lead-acid battery with 6 cells.
A "dumb" plug-into-a-wall-outlet battery charger regulated at 14.4 volts, or a "dumb" alternator that is regulated at 14.4 volts output, will charge either type of battery under normal circumstances, and that is what is happening when you are driving, and that is what is happening if you plug a "dumb" battery charger into either one.
Where you get in trouble is when you use a "special", or "smart" battery charger, because the "smart" features designed to recover a lead-acid battery from a sulfation event or a deep-discharge event won't work with LiFePo, and the "cell balancing" features designed to charge each individual cell of a LiFePo to the same state of charge (not normally needed, but suppose it is) aren't applicable to lead-acid.
Theoretically LiFePo batteries can become unbalanced over time (each individual cell not being charged to the same level) and charging the whole battery with an automotive alternator, or a "dumb" battery charger, doesn't fix this. In reality? I've had or have about 6 of these batteries in various bikes, and I've never had to use a "smart" LiFePo dedicated battery charger.
Lead-acid batteries don't have the cell-unbalancing situation because if you attempt to overcharge a lead-acid cell, it starts electrolyzing water and thus producing hydrogen, while that current continues to charge the other series-connected cells inside the battery. (Maintenance-free batteries have something in them that returns this hydrogen to water inside the cell, but it still happens on an individual-cell basis.) LiFePo batteries have a different reaction to becoming fully charged .... they simply stop conducting all current (at the proper charging voltage). If that happens when one of the cells (in series) is only 99% charged, it only gets to 99% charged.
The automotive lithium batteries (that are any good) have all sorts of electronic cell-monitoring and charge-rate control systems. "Made in China" ... maybe not.