Regarding the need to acidify RO water for sparging use: No, you don't need to acidify. The primary thing of concern with sparging water is that it have low alkalinity. Good RO water already has very low alkalinity. So the need to acidify is gone. Another consideration is that with the very low alkalinity of RO water, it would only take a drop or two of most acids to cause the pH to plummet.
So making sure the pH of the sparge water is below 6.0 does not matter when using RO water that is low in alkalinity? What if the RO water has a higher pH value, say around 8? Is this also true when mashing and sparging a dark roasted grist providing the mash water is properly adjusted?
There is no need to acidify low alkalinity sparge water, like RO or distilled, regardless of its pH. Even if the pH is high, the low alkalinity will allow it to drop easily and rapidly when it hits your grain bed.
Whether you acidify the mash or not still depends on your target pH and what your grain bill looks like. If using RO or distilled in the mash, the pH will simply be easier to adjust, again because of the low alkalinity.