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Can I use deore m4100 10speed shifter with my RD deore m6000 10speed RD?

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Yes, all Shimano mountain 10 is the same actuation rate for rear derailleurs as can be seen in the compatibility chart:
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Note that 9, 11, and 12 are all different, so speed generation mismatches are the thing that doesn't work.

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    This may be best asked in a separate question, but how do the RD-M4120 & RD-M5120 work for both 10 and 11 speed as listed on the Shimano spec page? Ten and 11s are close enough to the same actuation ratio to work?
    – Jeff
    May 26 at 19:00

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