While it has generally been considered normal practice for probably 50 years to change the regulator any time you change the alternator, I don’t always follow that rule myself. I usually just replace whatever is bad.
Then wait for the next part to fail…
So yes, your regulator could just be getting old and need some help. But as the others have said, there are other things that can create this issue. So check those first.
When you replaced the alternator was the mounting point on the engine pretty clean and free of dirty oil, or rust, or paint? If not you probably should remove it again and clean those points.
Is the little tiny ground wire still attached to one of the mounting bolts of the voltage regulator on the fender? That connects directly between the alternator and regulator to give them the same ground potential.
Are the mounting points of the regulator to the body also clean and rust and paint free?
After all these years the original body ground may have been removed. Verify that you have a ground connection to the body still. Originally it was part of the main cable to the engine where it was bolted to the inner wheel well.
If it’s been replaced with new that connection has probably been removed so you need to verify that there is an additional wire from the ground log to the body. The usual spot to mount those is either under one of the starter relay mounting bolts, or one of the regulator mounting bolts.
While you are checking the ground wire, verify that the main ground cable has a good connection to the engine block.
And FYI, don’t unbolt the regulator while it’s still connected to power. Either pull the four wire plug off first, or disconnect the negative side of the battery. Then you can unbolt the regulator.
And last, but not least, what year is your bronco? If it’s a 66 through 70 model, disconnect the two rectangular firewall connectors were all the wires feedthrough to the fuse panel and check them for any corrosion that would need to be cleaned off. Especially on the large black with yellow stripe wires. Those are your charge wires.
Inside, just behind your ammeter, there is a large push connector on that same black with yellow wire. Pull it apart and make sure it’s not corroded. When it snaps back together make sure it’s good and tight.
And I guess last but not least for the second time, check that the black wire on the battery side of your starter relay/solenoid is clean. Corrosion there will do the same thing as it will do in any of these other places.
Once you’ve done all that and the system still dims at idle, you can have your alternator tested and then use that opportunity to replace the regulator.
But don’t forget to check idle speed. Anything less than 700 RPM is likely to drop below the threshold for that style alternator. especially if someone has installed a slightly larger pulley at any point in the past.