I have several references with the same range of values. Also, some info on heating to allow a smaller radius or for stress relief:
The Alcoa Structural Handbook, Table 11, for 90o cold bends and t = 3/8”, gives a radius range 3.5t to 5.5t. Footnote reads
“Minimum permissible radius over which sheet or plate may be bent varies with nature of forming operation, type of forming equipment, and design and condition of tools. Minimum working radius for a given material or hardest alloy and temper for a given radius can be ascertained only by actual trial under contemplated conditions of fabrication.”
In the Supplementary portion of the above book, ASCE Paper No. 970, ‘Specifications for Structures of Aluminum Alloy 6061-T6,’
“Sect. 1-3. Heating.—Structural material shall not be heated, with the following exceptions:
a.—Material may be heated to a temperature not exceeding 400oF for a period not exceeding 30 min to facilitate bending….”
I would add, should you consider heating, that 400oF exceeds the age hardening temperature (350oF for 6-10 hours) for this alloy, so a lower temperature would be desirable. Ideally, the stress relief imparted by the heating would cancel the brittleness from the work hardening of the bending, so you could produce a final product w/o loss of mechanical properties at the bend.