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?

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