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We're talking about voltage under load, not resting voltage.
If you hook up a voltmeter to a single battery and watch it as you ride, you'll see it fall while delivering current. Then it recovers when you take the load off it.
When I'm driving the car and pulling 70-100A from the pack, a single 6v battery (closer to 6.35v when full, actually) will be hovering around 5.8v while delivering that current. And as the pack drains, that "under load" voltage sags even more.
Try it out.
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