I will make this very clear, do not use a tantalum directly connected to a car battery, you will get fire and doom,
So ceramic then, (very very low ESR) with an electro in parallel to soak up the spikes caused by the batteries spike loads and other weird stuff they do as bridges form and dissolve,
Lets say your charging at 0.5A, over i'd say 2 meter long leads, when the battery is disconnected, or it does some of the weirdness lead acids are known for, you will have to soak up the spike the inductance of the leads has, so if you want to be cautious, make your output electo closer to 47uF, with a 22uF ceramic,