But even a voltmeter will not tell you if there is enough charge in the battery.
I'm going to pull this out from page one, as it seemingly got lost in the noise.
Battery voltage *alone* is not a reliable indicator of condition, nor state of charge. Lead acid chemistry is 'complex', especially as batteries age and/or when they are damaged. I've two 45Ah lead acid AGM batteries in my garage, less than a year old. They have never been 'abused' but they have been frequently cycled. Both show ~13v off load (measured at the terminals), and ~12.7v when initially connected to a 4A DC electronic load. When measured using said load, one returns a capacity of ~4Ah, the other 10Ah i.e. they are 'done'. Both were 'fully' charged prior to testing.
Equally, about 13.5 to 14v or so (some regulators have temperature compensation) when your engine is running tells you only that the alternator and voltage regulator are doing their job. It says nothing as to whether the battery is actually accepting charge, and even less about how much it can retain.
If you're really concerned about charge and discharge rates, I think you'd be better off looking at something like this: https://www.victronenergy.com/battery-monitors/smart-battery-shunt
The measurement of battery voltage is a fairly complicated thing, but there are some ways to simplify this.
For one, a single measurement at any time is probably not a good indicator of anything. However, a history of readings, especially under known conditions, is very good.
For a car battery, a good indicator is to measure the voltage while charging, but also to measure after the car engine is turned off, then also after the car has been sitting for a day or longer. If the voltage when the car is turned off is say 12.9v and the voltage after a day is 12.4v, it's probably doing ok, as long as that repeats to some degree day after day for a few weeks. If the car voltage is 12.9v and then after a day of sitting is 12.0v, that may mean the battery is either getting old or needs a good charge with a good charger. This is especially true if it goes below 12.0v after a day or maybe a few days.
If you let it sit for one day and see it go to a certain voltage, then watch for that behavior again and again. The point is to look for a change in behavior while measuring in the same way.
As above, there are two ways the battery voltage can get lower than usual. Either the battery is getting old, or the battery has been drained too low by sitting for too long. If it is old then there's no good way to help it except to charge it with a good charger and then keep checking it. If it is just drained too low, then charge it with a good charger and that could get it back to normal.
If the alternator is a good one, then just driving the car for a longer time could help charge the battery back to normal. That would be one that can put out maybe 14.8v to start. If it is an alternator that can only put out 14.0 volts, then a good charger will be needed to help get the battery back to normal.
These notes come after years of testing and monitoring the battery right in the car, and testing and monitoring using (for a long time) a solar charger system.