The applied voltage isn't going to change the voltage drop across the wire, just the voltage available at the load.
This voltage drop calculator is easy to use. Since it is a two wire circuit calculator you need to put in 1/2 the length of your power wire, since in a car you use the large chassis circuit for ground.
http://www.calculator.net/voltage-drop-calculator.html
Pick your wire size, applied voltage, length of circuit and amps.
13.8V, 24A, 10’, 16 Ga = .96v drop, 12.84v at the load, 86% of circuit power available.
13.8V, 24A, 10’, 14 Ga = .61v drop, 13.19v at the load, 91% of circuit power available.
Switch to 10 ga = .24v drop, 13.56v available at the load, 96% of circuit power available.
Power dissipated in your wiring is lost power. It's just as easy to run a length of 10 gauge as it is to run a length of 16 gauge. A little too many circular mils is always better than too few.