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It sounds as if the voltage regulator has failed. On this vehicle, I believe that the regulator is integral to the alternator, but it may still be a replaceable part (rather then having to replace the whole alternator).
Take the vehicle to any auto parts store, such as Autozone, that has charging system tester that can be rolled out to the car to check the charging system curbside. The test should require you to rev the engine up from idle, to about 2,000 rpms. This is about where it sits at highway speeds. They should be able to verify that the voltage regulator has failed, or tell you if there is another cause.
Check with them to see if the regulator is replaceable before purchasing an entire alternator. If you are uncomfortable with doing it yourself, but can take the alternator off, you can probably have it repaired at any electrical motor repair shop.
relay in the alternator is bad
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