Question Sabertooth 2x32 Motor Performance Calculations and Linear Actuator Expectations

TL;DR: I don't expect answers or comments to all of my numerous questions, but any help is appreciated. Thanks!

Given that a Sabertooth 2x32's max voltage is 33.6V, what (if any) noticeable performance benefits or deficiencies are realized from using 24V motors instead of 12V motors for linear actuator applications (all other specs constant)? I am trying to apply DC motor equations from National Instruments' website to understand the effects. I am also trying to calculate the cost/benefit trade-offs of using 24V equipment. After all, if I'm paying for Sabertooths (Saberteeth?) then I would like to use 24V equipment if I can take advantage of increased performance. However, I'd like to justify it with math first.

The motor speed n=(Eo/Er)*Es where Eo is back-EMF, Er is the motor's voltage rating, and Es is the supplied voltage. From a simplistic (and perhaps unrealistic) view, increasing Es from 12V to 24V would proportionally increase motor speed (n), assuming my hypothetical motor can handle 12-24V.

However, it seems to me that speed isn't as important as torque for a linear actuator. The torque equation for a DC motor is T = ZFI/6.28 where Z is the number of armature conductors, F is the effective flux per pole, 6.28 is a constant, and I is the armature current. Therefore, increasing the hypothetical motor from 12V to 24V would not affect torque.

Now that I've reviewed the effects of voltage and current on speed and torque, I'm going back to my original question: does 24V equipment provide a noticeable performance increase for linear actuators over 12V equipment? For example, if I decide to purchase a 24V 20A motor instead of a 12V 20A motor (which would provide a theoretical speed increase), would this be advantageous for a linear actuator? Alternatively, would a 12V motor at a higher current to increase torque be more beneficial for a linear actuator?

On another note, I wonder if the quick motion changes required by motion sims would benefit from lower voltage to rapidly change the direction of motor rotation. In that case, perhaps I should stick with 12V at higher current.

Finally, I am quite impressed with the rapid motion and linear actuator stroke length of the motion-sim .cz 4x4 Simulator (found by searching "motion simulator" in Youtube, first link). Is this much stroke length desired? Or perhaps is the motion produced by this simulator exaggerated? If racing sims (especially rally sims) don't require that much travel, then I'd like to get away without it. I'm trying to determine if it a worthwhile endeavor to attempt to design linear actuators with that much travel. Also, I assume it is difficult to design a linear actuator with that rapid of speed.

Thank you for any advice or links to existing information. I was not able to find other threads directly addressing this. Perhaps I'm overthinking it and just need to decide based of advertised motor specs (torque, power, RPM, etc). However, I still like to have a little background knowledge on what I'm purchasing. Thanks!

Normally people are questioning whether to use 12V or 24V motors for a particular power rating. You have compared against a particular current rating.
So to answer both sides of the question, when looking for a particular power rating then it can be advantageous to use 24V motors because the current is less compared with 12V motors of the same power rating. Therefore cable size and motor driver costs can be reduced, also less heat is generated.
When comparing motors with a particular current e.g. 20A as you have then it really boils down to motor power. A 12V motor will give approx 240W, whereas a 24V motor could give 480W (actual motor power will differ dependant on the motor efficiency). Also bear in mind that the physical size of the motor could affect your choice.

Thank you for the advice. Heat and cable size were factors I wasn't considering. I'm leaning towards 24V at this point. I've been reading the forums for months trying to build my understanding. I'd like to follow the paths forged by SeatTimes, SilentChill, wannabeflyer2, and baykah. Hopefully I will get started building in a few weeks