There is no simple way other than on the car. When hooked up to the alternator and the engine running it should maintain the battery voltage between 13.8 to 14.1 with and without all the accessories on. Most alternators are rated at 2000 rpm so with everything turned on it may be necessary to rev the engine to 2000 rpm to maintain the 13.8 to 14.1 number.
You could simulate a test on the bench but would need to have a variable DC voltage source to make the regulator open and close the circuit to the field windings.
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