Everything else seems to work when the power steering doesn’t operate- lights, radio etc.
The only other unusual thing is the alternator which is faulty (low voltage) when tested in the car but works fine when bench tested.
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From what you've just said, it's possible that your wiring may be faulty from the alternator to the battery, or the battery terminal connections, which would make sense if it is working on the bench but intermittently on the car. Another good reason to have an auto electrician check the circuit out thoroughly.