My Defender Tanami is fitted with a sill tank (LRA).
It's controlled by a 3-position rocker switch. Position 1 main tank level, position 2 sill tank level, position 3 main tank level and start lift pump to fill main tank.
There is both a level sensor in the sill tank and also a second sensor at the bottom that shuts down the pump if the level drops too low (because you are displaying the main tank level while pumping). I did work out the circuit many years ago, from memory it only needed two relays.
My Series 1 has two tanks, the standard underseat and an additional one under the floor of the tub.
Switch on instrument panel selects which tank.
Position 1, Facet pump delivers fuel from main tank, gauge displays main tank level.
Position 2, Second Facet pump delivers fuel from the additional tank, gauge displays additional tank level.
The two Facets are Tee'd together, the non-return valve in the pump stopping backflow into the other tank.
Apart from the addition of a fuel pressure regulator (because a Holden carby is fitted) it's been like this for over 20 years.
Both of these solutions need a separate filler for the second tank.
The second option is easiest, just a changeover switch and 2 Facet pumps and a bit of wiring.
Here is the pump setup (& regulator) on my series 1.

Colin
'56 Series 1 with homemade welder
'65 Series IIa Dormobile
'70 SIIa GS
'76 SIII 88" (Isuzu C240)
'81 SIII FFR
'95 Defender Tanami
Motorcycles :-
Vincent Rapide, Panther M100, Norton BIG4, Electra & Navigator, Matchless G80C, Suzuki SV650
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