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There's no need for them to be taut. However, if they sag very much, they look sloppy, so I like to see them only have a slight sag or catenary curve. If they're too taut, and you bend one while docking, it will bend the others as well.
Notice: The advice given on this site is based upon individual or quoted experience, yours may differ. The Officers, Staff and members of this site only provide information based upon the concept that anyone utilizing this information does so at their own risk and holds harmless all contributors to this site.