The usual recommended charge rate is C/10, or one-tenth of the Amp-Hr capacity. Thus it takes 10 hours to fully charge them from a 10.5V level which is considered to be fully discharged.
So this means 20 A is a good rate for your batteries, although the Absorbed Glass Mat (as you have) can take a little rougher treatment than regular lead-acid type.
The 50 A rate is okay if you are in a hurry but it taxes the battery's ability to absorb the charge that quickly.
For the first few charges, it is a good idea to check each cell periodically with a hydrometer, to make sure none gets mismatched.
If you don't have a hydrometer, at least check battery #1 against battery #2 periodically with a voltmeter, to make sure neither rises to a volt level signifying overcharge (a hazard referred to in post #2).