Battery being a bit low SoC at startup (maybe weak SoH?), combined with alt/VR output not very high voltage (maybe low current)?
Get the battery to 100% Full (Absorb voltage, not accepting more than 0.01C) and everything else turned off, what is VR output voltage?
Can VR be adjusted higher?
Load test the battery, in decent condition?
Check all connections, unmake / remake, low resistance not loose no corrosion. . .
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