Keep them charged
A fully charged battery won't freeze until something like -75f, a fully discharged battery will freeze at about the same temp as water. Really, a lead-acid battery should never be left discharged, regardless of the air temp.
I pull my batteries and keep them inside on a tender (varies the charge voltage according to charge level, as opposed to a trickle charger) and swap in an older battery I keep around so the shop can run it to winterize it, and then leave that one in all winter. A bit of a pain, but only a small part of the winter layup.
I think if you can keep them full or near-full charge they should be OK over the winter in the boat.
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