P168.4 and P159.4 Error Codes - 2002 Chrysler Voyager 6Cyl Alternator Issue

Last week, the ABS light flickered on and off several times. The next day, the battery warning light came on after just five minutes of driving. I took it to AutoZone for battery, starter, and alternator checks—everything passed. However, the battery light continued to flash for two days. On Day Three, the battery light came back on, accompanied by hesitation in acceleration, with the vehicle only reaching a maximum speed of 25 mph. There was also significant noise from under the hood, wipers became erratic, gauges behaved abnormally, and power windows reacted unpredictably. The engine eventually died and would not restart. When I managed to jump-start it, I noticed that the alternator only spun when the accelerator pedal was fully pressed to the floor. I replaced the alternator and charged the battery to full capacity. The car ran smoothly for five days without issues. However, on Saturday, the ABS light came back on. Yesterday, the battery warning light appeared again, and I discovered the 'key dance' phenomenon—repeatedly turning the key on and off—to clear the system. After performing a diagnostic scan, I received error codes P168.4 and P159.4. I'm extremely concerned about losing power in a major intersection, as it could lead to a serious accident. What could be causing this? Is it related to the alternator or voltage regulator? A parts store suggested sending the Power Control Module (PCM) to a dealer for a reset. However, since my family recently moved 60 miles away from home, I have no local support and barely managed to push the car out of the driveway and jump-start it last time. I own a 2002 Chrysler Voyager with a 6-cylinder engine and approximately 160,00 or more miles on the odometer. Any insight into diagnosing or fixing these codes would be greatly appreciated.