Hell yeah.
With engine at or above 3,000 rpm, put a known good voltmeter across the battery terminals, it won’t definitively tell you what the alternator is putting out, but it will tell you what the battery is receiving.
If your alternator is up to speed but you are not getting 14 + Volts across the battery, you will need to check BOTH ends of BOTH leads, then battery condition etc.
I have had mine out for checking on a test bench recently and it is not a huge task.
As you know, mine is an ‘07 like yours, so I can give you all the clues.