In general the passenger side has a 30 amp circuit along the top, pretty much any thing small comes off of that circuit.
I am not a big fan of multiple wires coming from the terminals of the battery, in this case it might be the best solution. There are a couple of questions I would have first. What is the rating of the 12 volt heater. The wattage will drive what wire size you need, this will be even more important if you have to make the longer run around. Also going direct to the battery could impact fuse choices.
The second is do you now have or are you planning on having a battery monitor? This will become important on how you handle the grounding.
Typically I found relief between the bottom of the cabinets and the wall and have made wire run behind the cabinets. Being that you have a EB 49, you should have a wall in the back of some height. That would make it easier than some versions.
Going through the floor is not that tuff I generally use
cable glands. The key is to drill a larger hole thru the SMB subfloor first that is be enough to give access to the gland nut. Don't drill all the way through, then switch to the smaller bit for the gland pass thru.
-greg