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It might be because the editing they do for the DVDs, which does not happen for the TV lives. Also, she warms up her voice a lot more before an actual concert.
I can tell you it sounded very different being there versus watching the DVD.
STEP you in AT06 is one of the songs that's edited the most together with Ladies Night, the vocal tracks might even have been replaced with a new one.
There's probably all those small things amounting up to make it sound quite different.
It's also very possible that she just chose to try to go even lower for Born To Be... during AT06.
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