Personally I wouldn’t be concerned with 55mV peak to peak of ac ripple especially if your car is keeping the battery charged and you have good voltage when the engine running without problems.
Looking at your oscilloscope picture, I’m seeing the vertical grid is at 100mV (100mV between grid lines vertically) which makes 55mV peak to peak seem correct. I don’t know if your oscilloscope can go to a lower voltage range such as 20mV to better see the signal you are getting.
For your voltmeter where you measured 0.1 volts of AC, I would expect it to be similar to the oscilloscope. Now how they get the AC measurement can vary in terms of if they are a true RMS measurement or not. Some meters can do interesting measurements with some waveforms since they are usually thought to measure more sinusoidal waveforms. I have also seen some AC voltage meters not really measure below 0.1 volts so it could be round 55mV up to 0.1 volts.
There is a lot of potential for electrical noise in your measurements in an engine bay due to things like ignition systems and electric fans/motors if present. Your oscilloscope cables can easily pickup electrical noise and make things appear worse than they are.
As a note, I have only used the more expensive oscilloscopes you find in labs and have not worked with these hand held meters. I keep watching these online and will get one at some point. Thanks for sharing!