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2007 Hyundai electrical issues

I'm having issues with my 2007 Santa Fe. When I'm driving. 19 minutes or after 2 hours, all of a sudden my ESC OFF lights comes on and my headlights, tail lights, dash lights, turn signals and clock go out. Sometimes they come back on on their own, Sometimes I have to pull over for 20 minutes and turn the car off to get them on. Radio still works, cup holder lights still work. ... mechanic said alternator is fine, battery is fine. .... any ideas why?
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