My head unit (Clarion DXZ785USB) has 6v preamp outputs. My amp (Alpine mrp-m500) has a maximum input sensitivity of 4v. Will this cause any damage or otherwise affect the performance of my setup?
No. What you must remember is that the voltage is not constant. Sure it's capable of putting out 6v, but it's not unless you turn the subwoofer setting up as high as it will go and also turn your volume up as high as it will go. Only then is it putting out 6v. As long as you set everything up properly you will be just fine.