As wired from the factory the light switch gets its power from the regulator "L" terminal. If the VR is missing and the light switch hot wire was not relonnected to another source of 6 volts, the lights will indeed not work.
Also, from the factory the lights should have dedicated ground wires. (The steering post is notorious for grounding poorly or not at all). Suggest running a ground wire from each light and attaching it to the BASE of the VR.
A fully charged 6 volt battery should read about 6.6 volts at rest. Your voltage readings suggest the battery is somewhat discharged. Also that is not being charged when the engine is running - exactly what you'd expect when the VR is missing(!)
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