Solar panels behave as constant current sources when the load draws sufficient current. The current will proportional to the illumination. Therefore connecting it to the battery in the correct polarity will charge the battery. There are several issues.
1) The panel is capable of delivering the current at a higher voltage than the nominal 12V, so it can charge a higher voltage battery the same way. Much of the power that could be provided is wasted. A suitable charge controller could step the voltage down and increase the current, so the total power remains similar, and none is wasted. As you already have plenty of current, I guess this can be ignored. It is just inefficient. The power ends up heating the panel, and it may become too hot.Normal maximum operational temperature is 50 or 60°C. A suitable voltage panel will have 36 cells in series, and produces around 21V with nothing connected. Yours is probably about 3 times more voltage.
2) The second is that the current is probably more than a smaller car battery can deal with continuously. Normally batteries have a continuous current rating around 1/10 their ampere hour (Ah) rating, which is more like 4A for a 40Ah battery.. A larger battery would handle the 6A okay. The issue here is that the battery could overheat, depending on ambient temperature.
3) When the battery is fully charge it needs to be disconnected. A simple approach that works well is to disconnect the battery when its voltage is approximately 14V. THis voltage is actually around 13.85V to minimise overcharging and hydrogen gas generation. The charger is reconnected when it is approximately 13V. This does require a certain amount of electronics which you would have to make yourself. The connection and disconnection could be using a relay, but works better with an electronic switch.
4) Charging a battery has some hazards. In this case the battery will be charged at around 6A whenever there is sufficient sunlight.This battery should be well ventilated and located outdoors. I don't like the relay idea because there could be sparks as the contacts close - ooops bang. This is also possible if you disconnect the charging wires from the battery.