To find the steady state voltage across the 6 Ω resistor, we need to analyze the circuit at \( t = \infty \), which corresponds to the steady-state condition in an R-C circuit. At steady state, the capacitor behaves like an open circuit because it is fully charged. Therefore, the current through the capacitor is zero, and the circuit reduces to a simple series circuit with the resistors.
The total resistance in the circuit is the sum of the resistances:
\[
R_{\text{total}} = 6 \, \Omega + 3 \, \Omega + 10 \, \Omega + 2 \, \Omega = 21 \, \Omega.
\]
Now, apply Ohm's law to find the total current in the circuit, using the total applied voltage of 10 V:
\[
I = \frac{V_{\text{total}}}{R_{\text{total}}} = \frac{10}{21} \approx 0.476 \, \text{A}.
\]
Next, calculate the voltage drop across the 6 Ω resistor:
\[
V_{6 \, \Omega} = I \times 6 = 0.476 \times 6 \approx 2.86 \, \text{V}.
\]
Thus, the magnitude of the steady-state voltage across the 6 Ω resistor is \( \boxed{2.86} \) V.