proper voltage? When you connect speakers to an amplifier, do you
worry about what the source impedance is, so long as it's low enough
to not materially affect damping? If not, why would you worry about

I would not go there on the audio . The speakers do need to match the design
of the amp just as the load on a transmitter needs to match the design
impedance. Most power output devices are designed to produce maximum power
and /or minimum distortion into a specific load.