Lead acid car batteries have no Memory effect.
A battery must be fully charged for a Load tester to give an accurate reading. Load testing a partially charged battery will not give good results.
Basically, any new battery is beginning to decline in capacity, right off the assembly line.
The best way to make a battery last a long time is to keep it at, or as near to fully charged it's entire life.
If a car does a bunch of short trip, at night with the blower motor on, the alternator might not get a chance to fully charge the battery.
If a car sits for a while in between use, some parasitic draws like the computer and stereo memory, along with the wireless door locks are always drawing down the battery slightly.
Once again short drives might not be enough to fully charge the battery.
As the battery ages, the resistance within increases, making it even harder to truly fully charge the battery.
When a battery sits below 80% charged, the plates are building sulfates on them. The longer these sulfates sit, the harder they become. The more sulfates that form, the less capacity of the battery.
YOu can try regular overnight charges. You might be able to dissolve some of the sulfation back into the electrolyte and restore a little capacity, but with winter coming/here, that battery can fail on the coldest, worst moment possible.
So you can hope the battery lasts the winter and then some, or you could preemptively replace it. Your call.
Without you putting a voltmeter on the battery terminals with the car running, we cannot tell you if the charging system is working to it's potential. But it likely is and you are just expecting too much from an old battery and your alternator and charging circuit.