I would make the battery DC VOLTAGE measurement across the terminal posts first to be sure you are not having any voltage drop due to too small of battery cables...
I use 4AWG cables with properly crimped ring terminals for everything I hook up to my battery setup... My DC VOLTMETER measurements is done at my main BANK 1 and 2 BATTERY SWITCH which is about two feet away from the batteries. I think I usually see about a .1VDC drop when my three 12VDC batteries are running my 600WATT PSW Inverter running at half power which is around 22 AMPS DC current.
I was originally going to use 2AWG ANCOR MARINE GRADE CABLE between all of the battery terminals and the three four position BLUE SEA switches I have setup to control four 12VDC batteries in Parallel. Ordered the 2AWG cable and ring terminals but never installed them.
I would RULE OUT your cabling first before pointing to the low performance of the battery setup. I would also check the terminal connections at the batteries as well. They may not be tight and may need cleaned up some...
0.5VDC voltage drop seems excessive to me for a 21 DC AMPs load measured at the battery terminal posts...
Roy Ken