Just wanted to report back on this, thanks again @maxter for all of the tips.
I did do a bunch of homework regarding voltage dividers, and started learning a lot of useful info about how the electronics are working on under the hood. Picked up some basic electronic components and started thinking through the problem at hand on a breadboard. Today, I measured the output of my drum machine and could not get my multimeter to show any voltage higher than about 2v when plugging an audio cable into the trigger out. Thought that seemed fishy but figured it was safe to test plugging it into the Prophet since I wasn't getting a high readout. Viola, everything works fine just going straight from the RD-6 into the sequencer jack of the synth. Hope I didn't overlook anything major, but since I measured the voltage at well under 5v I guess I'm all good?
Anyway, it's really fun being able to bypass the whole rest/tie workflow of the Poly sequencer and just use the drum machine buttons. It has definitely been useful learning about basic circuitry as well, I will build on that knowledge over time.