In series for 24v will not pull equally from each battery. As the lead acid gets low (below 12v) it will pull more amps from the lower voltage battery than it will the lithium, draining it even faster until eventually the lead acid is pulled down so low it gets damaged. You wont know there is an issue because the lithiums constant
13.1-13.3v will continue to produce 23v+ when the lead is toasted and the motor will continue to work somewhat well.
Never ever ever mix battery chemistry, from AAA up to deep cycles....
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