Squirrels have fuzzy tails.
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As long as you can accelerate you should be able to reach your 10mph speed given enough time.
Specifying "exactly on the border" numerics is how cheap consumer junk stays cheap, and also keeps disappointing with its inability to actually achieve stated specifications. You need the margins for anything robust.
480oz*in of torque is what is needed to move the robot up a vertical wall (if the tires could maintain friction).
You are right; that wasn't made clear.