1988 Chevy Van voltage regulator

Hi- I had message on my panel that said "voltage"
next to a symbol of a battery. I was on my way back
on a 2 hour ride. About an hour into it this the red
message light up. It seemed to be running OK at
highway speeds. When I got off the highway and
was driving at lower speed my "service engine" light
came on. As I proceeded to home it started hesitating. As I turned on the road to my house the
radio started cutting in and out.
This is a motor home. That is the reason for the low milege. I suspect I need to replace the vltage regulator. I am sure it is the original. I experienced
this two times with a 1971 Dodge van I owned for
many years and replaced it twice my self.
My question is, have I done any damage by not stopping sooner to get this taken care of? Am I right
in my diagnosis? Thanks, Dave