It is technically possible to do a rolling upgrade from 5.6 to 6.0, with just one exception in regards to TLS.
In 6.0, TLS is not optional anymore in X-Pack Security, so if you are using X-Pack Security with TLS disabled then you are required to do a full cluster restart to 6.0 in order to enable TLS.
But if you are not using X-Pack Security or is already using it but with TLS enabled, then you can perform a rolling upgrade from 5.6 to 6.0.
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