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The car uses a certain amount of energy per mile. Like 200 watt*hr/mi if it is SUPER efficient and aerodynamic. And like 500 watt*hr/mi if it's a big fat truck. The battery pack stores a certain amount of energy. But you have less usable energy available from the pack the more current you draw. It's called the Peukert effect. So you want to keep the amps as low as possible. Voltage*current is power. For example, you can either do 100 amps at 72 volts or you could do 50 amps at 144 volts at the same power level.
Lead acid battery packs will have more amp hours available at 50 amps than at 100 amps. Long range with lead acid is usually done by lots of 6v batteries. Like 120v or 144v worth.
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