What is the difference between .URL and .RelPermalink?

From the current documentation:

.RelPermalink The Relative permanent link for this page.

.URL The relative URL for this page. Note that if URL is set directly in frontmatter, that URL is returned as-is.

It seems only URL can be set in the frontmatter, and RelPermalink cannot. Is that the only difference?

For all practical applications RelPermalink is what you want (I think having URL in the documentation confuses more than it helps).