Low voltage DC UPS - confirm specs
The best system is to simply have the charger constantly powering the battery. And the devices constantly drawing power from the battery at the same time. This is equivalent to a "full online" UPS. As there is zero transfer time. (cheap mains UPSes have a small drop in the mains output when they transfer the load from mains to battery during a power failure).

Check the output from your charger as mentioned above. As lots of 12V battery chargers have poor output voltage regulation. And are typically designed to charge a battery, and then be disconnected. They will often overcharge the battery if left connected to a battery 24/7. Get a regulated power supply that you can adjust the output to 13.5V or whatever the battery manufacturer specifies as the ideal "float" voltage for that battery.

Also consider how reliable your SEPIC power supplies are. Especially in relation to over voltage protection on their outputs. You don't want a faulty SEPIC inverter to destroy your connected devices from over voltage. Do a search for "shunt regulator" and "crowbar circuit" for examples of over voltage protection circuits.

And make sure that you put some fuses on the connections to your battery, as close to the positive terminal as practical. As lead acid batteries can provide very large currents if a short circuit occurs. The main purpose of the fuses in this case, is to stop a fire from occouring due to overloaded wires, if one of the SEPIC inverters or your battery charger fails short circuit.