Can I take the servo wire, cut the positive and negative off, wire that directly into a 7.4 Lipo? The signal wire would still be plugged into the RX. The ESC can only put out 6V.

I found my answer.

Using this:
RX Bypass Adapter - Wiring & Wiring Accessories - Electronics & Wiring (holmeshobbies.com)

Yes you can power the servo directly from the battery, but make sure your servo can handle the voltage. Some are only rated at 7.4V, some 8.4V. A freshly charged lipo pack are at 8.4v or 8.7 depending if they are high volt. Also do not plug it directly into a 3cell or higher pack or that would just instantly fry the servo.

I use the balance harness like this:
https://www.rcgroups.com/forums/show...0#post40061288