Yes, but make sure the connection from both batteries to chassis ground are rated for the full 50A of the Orion XS, both in terms of current rating and voltage drop and that both connections to the chassis are clean and tight.
I have just realised I answered Yes to an either or question. I should have said, Yes it is OK to have both batteries connected to ground.
The other point and you have this correct is to have the Orion negative on the aux battery so you get best voltage readings on this for charging control.