The ESP and ETC light come on run a test and said it to be voltage regulator?

I believe your Dodge has electronic throttle control (ETC). I would lean towards checking into your throttle body functionality before guessing at an alternator concern. It's possibly both could have a concern. The lights could indeed come on due to low reference voltage also. Still, a good diagnosis is in order before guessing at expensive part replacement, only to be let down by needing to spend more on additional repairs.