Both the battery charging and actuator system are fundamentally wrong, unfortunately.
11 - 13V is far too low to actually charge a 12V lead-acid battery to full capacity.
The correct charging voltages are 13.8V, if the charger is permanently connected, or 14.8 - 15V for intermittent charging. That should be reduced to 13.6 - 13.8V once the current drops to 5% of the AH rating.
The valid voltage range from a 12V lead-acid battery when off charge is from a max of 12.9V fully charged, down to around 11.6V fully discharged. They reach 12V at about 40% charge!
The 12.49V you mention would be reached at somewhere between 60 - 80% capacity, while off charge, IF the battery was properly charged beforehand.
With only 13V on charge, it will only ever part charge and will degrade quite quickly.
The charging system needs to be working correctly before anything else can be fixed
Best Portable Battery.