Highly possible the 10 spies exaggerated their size, "we were like grasshopper" seems a little outrageous I admit...
Literally speaking it'd be an absurd exaggeration due to the square-cube law. Metaphorically speaking it may be an exaggeration, but it's not unreasonable to be intimidated by an opponent whose average soldier has 8-10" of height and comparable advantages in muscle. If you've ever been involved in a melee-based martial art or even just fought with boffer "swords", that type of advantage in reach is a curbstomp that's comparable to male vs female athletic competitions where average high school males beat Olympian females.
Which is why David was so remarkable. Saul tried to give him armor and weapons and David declined it because fancy equipment wont do jack when your opponent can stab you from out of your reach. And why using a shepherd's sling was so clever since it outranges even the tallest man's melee.
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