You don't need to enlarge the entire run for voltage drop.
That is to say, sections of the run are severable for voltage drop calculation purposes.
Avoid blunders in doing voltage drop calcs.
The first blunder is using the amps of the breaker trip. You're not allowed to plan to max out a service - e.g. if you're building Bitcoin miners and plan a total of 400A @ 240V, you really need to provision 125% of that or 500A service. And if you're doing a residential load calculation, that is already accounted for in the demand factors. Actually, use the Calculated Load or 80% of breaker trip, whichever is lesser, and this is based on Canada rules.
Don't forget the Load Calculation is a practical worst case scenario: imagine if panels only caught fire once every 10 years on average, that would NOT be acceptable! So Load Calculations are set even higher so that doesn't happen. That means having actual amp draw equal to your Load Calculation will be a very unusual and transient event.
Second, the actual voltage drop you experience will be proportional to actual amps right now, - if you set wire to 3% @ 80% load, then at 40% load (itself quite uncommon) you'll have 1.5% drop. 3% is a wire salesman's suggestion, and not a hard and fast rule except in Canada.
Multi-segment cable and voltage drop: calculate separately.
Let's say for weird reasons, you have two existing segments of 30' of 4/0 wire and 20 feet of 250 kcmil (all aluminum of course). Lets see how that computes.
- For the 30' run of 4/0 at 160A, we have 0.47% voltage drop.
- For the 20' run of 250 at 160A, we have 0.26% voltage drop.
- These total 0.73% drop.
So, the remainder of our cable must hit our voltage drop target minus 0.73%.
Let's say we have a 300' total run (250' to add) and we're OK with a 4% voltage drop. So we ask the calculator for 250 feet, 160 amps and 3.27% drop (4% - 0.73%). And it spits out 300 kcmil at 2.88%. 3.61% drop.
However, here's a teaching moment. If you tell the calculator you'll tolerate a little more drop, surprise! Out target was 3.27% drop and 250 kcmil works at 3.30% drop. That's only 0.03% off our spec - perfectly tolerable... and the voltage drop calculator didn't bother to mention that! Because it is literally run by wire salesmen. So yeah, it's worth checking target + another fraction of a % to see if a perfectly acceptable value is just around the corner.
So your jumper, being only 6 feet, will be negligible voltage drop, and I would just use the largest aluminum that will fit on the lugs and call it a day.
Demand factors work even better if you bring a single cable over.
You might have one of your two 200A panels peaking. It could happen. But in that moment, you are vanishingly unlikely to have both of them peaking.
With two separate long feeders, the one that is peaking will experience "spec" voltage drop. The other one will not, and its wire capacity is largely wasted. (no, you can't bridge them at the house).
However, with one large e.g. 600 kcmil feeder, yes, one 200A panel is peaking, but since the other one is not, the feeder is not either, so it is not up against spec voltage drop.
How do you make that work? You get a different meter pan that accepts single 600 kcmil lugs, or swap lugs if the pan supports it. Then you use a 400A disconnect out there, if that's even required.