Welcome to the forum! I will move this to the Vintage sub forum after a bit of time...
I've not fiddled much with these older systems, but it sounds like maybe the brushes are not moving easily in their holders. Or the springs that push the brushes against the slips rings are not tensioned correctly. It's possible that the regulator contacts are dirty...sliding a thin piece of paper like a business card across the contacts could clean them up.
There is booklet that describes the /2 charging system on line:
https://www.snafu.org/restore/uandm_bmw_v1.pdf
A newer version with colored diagrams is available at Bench Mark Works.