It sounds exactly like my 32 when the alternator was dying.
It never brought the charge warning light on but struggled to make 12.5 volts when tested with the motor running.
A new alternator and the voltage never goes below 14.2 volts and the hicas light, clunking and heavy steering never returned.
I think hicas might need more than 13 volts to work properly.
Check your output voltage and be aware that as alternators die they can work intermittently for a while so it might be 14.2 volts for at first then drop to 12.5 volts and your problem returns.