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Its pretty clear that Cal/Jorge are the fastest on the Yamaha for what they have, that bike was designed for Lorenzo, the bike suffers on heavy braking, Rossi's bread and butter is on the brakes, one of the outstanding reasons why he sucked so hard on the Ducati (tire temp/geometry).
Setup is for the tires, The bike is designed for particular potential, motor, brakes, geometry, the pilot needs to understand the potential of the bike and be able to make a good setup work, that works with the tires.
If Rossi is on his 2010 bike, he might be able to make the tires work, if hes on the same bike Spies was on, hes gonna have problems, because the potential of a bike directly affects the lines it can take, and how it needs to be ridden.