U3 does not work properly because its negative power supply voltage of -1.3V on pin 4 is wrong and the -1.3V should not change when U3 is installed. Check or replace R2, R3, C2, C3, D5, D6 and both diodes making D7.
U2 has its pin 2 wrong at 0V when it should be the same voltage as pin 3.
You measured its pin 6 voltage at +19.3V but now you say its output does not change when the voltage pot is turned. Then its pin 3 voltage connected to the voltage pot should change. you say its output is now steady at +41.6V but was 19.3V earlier?
The emitter voltages of the output transistors cannot be higher than their base voltages and should be about 0.5V less when there is no load.
The emitter voltage of the BD139 also cannot be higher than its base voltage.
Either the pins of the transistors are mixed up or they are defective.