Battery light intermittently coming on
 

I have an 09 Escape and for the past few weeks the battery light comes on intermittently. Occasionally the vehicle will stall, my power steering loses power and all the lights flicker. When the battery light is off I get a reading of 14.4 volts with the truck running. When the lights flickered the range was from 14 to 15.7. Any idea what the issue could be.

Battery cables tight and in good shape?

if good... alternator "could" start to act up not providing enough volts...

Given your VDC shows 14+ after light...maybe the problem is intermittent from alternator but your meter test isn't catching the problem when it actually happens

What is the battery voltage when engine is not running?

Battery when engine is not running is 12.5-12.7. Battery was also tested at O'Reilly's and they said it was fine.

Where were you taking the voltage measurements, if at the batt ,there is most likely a problem in the power supply to either the main electrical panels or possibly an intermittent ground connection.
I believe your vehicle has electric power steering and at this point we do not know if the loss of steering is due to the steering section or other electrical circuits. This will require more detailed testing to pin down which area. Any check engine light ?