Find a latching relay. I built something similar where I had a battery powered circuit that needed to be on for a long time. This is different than making a latching relay from a normal relay. A latching type relay uses a pulse. You send a short pulse down the line and it flops over. The datasheet will tell you the pulse width.
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I sort of hate relays. For 12VDC and a light load, I might consider a depletion-mode MOSFET and a diode to protect the battery. Much faster switching time than a relay, and quite probably lower internal resistance! Also no moving parts and much lower current consumption. There are some cases where it's not appropriate though.
Anyway, I looked through the datasheet and you're right -- no mention of wear and tear from just leaving the solenoid energized, only from switching. Failure time also seems to increase when switching high currents. Since you don't seem to be doing either of those things, I think you should be in the clear.
Look for the duty cycle on the datasheet. The only relays I can think of with less than 100% duty cycle are automotive starter solenoids.
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