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You can test each alternator on the truck. The regulator terminals are terminal #1 (closest to B+), light (exciter) and terminal #2, battery sense. Terminal #2 is connected to the battery all the time. Terminal #1 is switched through the ignition switch.
Simply remove the regulator plug and run...
Charge the front battery and then swap the front battery to rear, rear battery to front and see if the problem moves. As noted above, 12 volts is a dead battery. You should see 12.7 volts fully charged.