Two things influence run time - amp draw and pack capacity. Motor efficiency has a minor influence, but for a given speed a 6S setup will pull only 2/3rds the amps of the 4S setup, and you may not the large format 4082 motor, a 3674, 3685 etc. would probably work. So with the same battery capacity the 6S setup will run much longer...except that the packs will weigh 50% more and take up more space. So for the same weight you can use higher capacity 4S packs and get the same run time as the 6S setup.
If I didn’t have to worry about racing rules, I’d run the 6S setup. It’s easier on the components and for the runtime is about the same cost. Racing rules depend on the class.
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