Circuits From Different Panels

Yes unless there are emergency circuits involved. Also they do not have to be the same voltage as long as the neutrals (if used) for each system are identified to their respective system.
 
Also, if they are of different voltages, the insulation systems for all conductors must be rated for the highest voltage of any of the circuits. That's generally not an issue, since we most often deal with 480 volts and lower, and all associated conductors are rated for 600 volts.
 
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