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It is possible for the alternator to cause this warning, yes. However, there are a number of other things that can commonly cause this warning, so I would definitely NOT jump in on an alternator replacement until the fault memory is read out of the dynamic drive system to confirm the problem. Having the fault memory read will verify the issue, and allow you to proceed with the proper repairs and eliminate all guess work.
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It should be right around 14V to 14.5V with the car running
There are a number of things that can cause this message aside from the alternator. A problem with the dynamic drive control module, a problem with the front sway bar, a low fluid level in the system, a failing steering angle sensor, etc.
Again, the fault memory must be read out of the system to confirm. Only then can appropriate repair measures be carried out.
Please let me know if you have further questions.
Last question. Assuming it is one of the things you mentioned can you estimate $$ for the parts/repair?
dynamic drive control module -
problem with the front sway bar -
failing steering angle sensor -
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They are not likely to be dangerous, but I would have it rectified sooner than later.