Note: when we're discussing 'earth' here regarding the 12V side, this means earth in the traditional vehicle wiring sense i.e. 'DC terminal common to the bodywork', rather than in the protective conductor sense.
At one level, anything earthed will work - the body, the battery negative terminal, the engine block. However low resistance is crucial in both the leisure battery charging circuit and the inverter circuit, and you should aim to connect them as solidly and effectively as possible. It is notoriously difficult to get a reliable, heavy current connection to a pressed steel body panel, plus there might more interference if the positive and negative inverter connections are not run as a pair of similar cables side by side, so it is generally recommended to connect both terminals of the inverter to the battery via cables.
A 1500W inverter could consume 150A from the leisure battery, so if we allow 0.5V drop the total resistance of the cables and connections should be in the order of a few milliohms. You mention 16mm² cables; these are not really rated for 150A continuously although the inverter probably isn't either, in reality. To achieve 0.5V drop at full load with this size cable, the complete circuit from inverter to battery and back again should ideally be no more than 0.5/150/0.018*16= 3m long. If it is significantly longer than this, you might take account of a known lower maximum load, e.g. if you don't intend to use more than 750W then you can double the length for the same drop.
The leisure battery charging circuit, involving the connections to the relay and the negative connection from leisure battery to engine block, typically carries less current than the inverter circuit, but tolerates less voltage drop. 0.1-0.2V is a good target.