Lots of things will affect whether you need a duplexer or not. Most importantly are frequency separation, receiver selectivity, and transmitter power output. Other variables include separation space available for independent antennas and mode of operation.
AM is not as repeater friendly as FM. I've seen a UHF 45 watt repeater function decent without a duplexer. The frequency split was 5 MHz and two antennas were vertically spaced about 25 feet apart on the same tower. This would fail miserably if it were not for the extreme receiver selectivity the equipment had.
I suspect you would have few problems with a cross band repeater. The UHF and VHF antennas should be vertically spaced apart. This provides several times the isolation that an equal amount of horizontal spacing offers. Use well shielded coax cables to prevent leakage into the receiver channel.
The main issue that the duplexer aims to correct is receiver desensing. This is when the receiver beings to lose sensitivity (like turning the RF gain way down) as a result of the transmitter power entering the receiver front end. This could be a factor that affects how much transmitter power you can run like this.
Other simple things you can do to improve the performance would be to add a appropriate filter on the receiver input. For example if you use a VHF receiver and a UHF transmitter, put a VHF low pass filter on the receiver.
You can make a trap from a coil and a variable cap that is tuned to act like a short at the transmitter frequency and installed at the receiver input. Similarly, a 1/4 wave coaxial stub can be cut for the transmitter frequency and installed at the receiver input. The coax should be the best quality possible to prevent loss and open at the far end.
In the mobile application vertical antenna spacing is not possible. That is an issue. Your best chance is to mount one antenna on the fender or hood and the other on the trunk. I'd use 1/4 wave whips for each to reduce coupling. The passenger compartment may shield much of the radiation then. Where longer 5/8 wave antennas would rise above that point.