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Fed rules say 6' minimum and "preferably" at least 10'.
USVA rules say 2 meters is "recommended" and 3 meters on the sidelines, 4 meters on the end lines is required for all nationally sanctioned matches.
Of course, we play in gyms all the time with less than 6ft/2m clearance and we just have to make allowances by granting a replay if the lack of minimum clearance interfers with a player's play on the ball.
-Homer-
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