I must be really dense. A 24 volts motor requires (2) 12 volt batteries, right? Lets say each provides 100 A/H This combination will provide 1amp for 100 hours, correct?
Now lets put one of those batteries on a 12 volt motor (of the same thrust) that will require 2amp to get the same "power" (double right?). Now this (1) battery will provide only 50 hours of use, correct? Then we hook up the 2nd battery and this also provides us with 50 hours of use. So with the 12 using (2) batteries we get 100 hours and with the 24 using (2) batteries we get 100 hours. Which is more "efficient"? Both look equal to me.
Now lets use that (1) battery with a 12 volts motor and get 50 hours of use. Use that same (1) battery with the 24 volt motor and you get NO hours of use.