As you mentioned motorcycles, I'm just wondering what the difference are the transmissional losses are compared to the different kinds of chain (o ring, x ring etc) and how that changes through the wearcycle of the chain compared to a belts wearcycle. Especially as the belt has a tensioner.
From memory; there is a small amount of parasitic drag with any 'sealed' chain. I think for this reason motorcycle racers often still use unsealed chains. There are also small differences between seal designs, and bigger differences with lubrication (of rollers and seals). Chains lose efficiency with wear but a chain would practically have to be falling off or rusted solid before these losses might compare with those in a belt final drive.
Probably someone has done some testing which is relevant to this; I'd expect to find something on the interweb without too much difficulty.
Re bicycle belt drives; they can be sometimes be run with less preload if a 'snubber' is use but in many cases the drive isn't reliable unless the preload is roughly equivalent to the peak service load. They measure as reasonably efficient when they are seeing close to their rated load and the load is constant. However this is a very poor match for typical conditions on a bicycle drive, so as I mentioned above manufacturer's test data tends to be 'highly optimistic' in this regard.
Note that part of the reason for the low efficiency is that the belt drive can be stretchy when you are pedalling hard; some folk find this 'pedalling in mush' sensation so off-putting they won't ride a belt for that reason.
On a more trivial note, that does not apply to (original ) Rohloff belt drive conversions - but might apply to those which use the current splined driver- I have seen numerous belt drives clap out on IGHs which use the standard three-lug drive sprocket fitting. What appears to happen is that the preload on the belt causes the sprocket to 'orbit' on its mountings in a way that doesn't happen with a chain drive. The effect is so strong that the sprocket can just wear away and then lose drive. Aluminium centred sprockets are terrible for this but I have also seen it happen with steel-centred sprockets. Its not yet clear to me if the Rohloff belt drive sprockets that fit to the splined driver are susceptible to the same wear or not.
cheers