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Originally Posted by amigo-2k
sounds like the alt is pooping out under engine load, but is fine at idle.
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The bit about voltage not dropping when the lights are on is the key. "96 and '97 Rodeos (not sure about 2nd Gen) have an input to the VR from the ECM which I'm pretty sure is what tells the alternator that the headlights are on, therefore telling it not to change alternator voltage control to "fuel economy mode".