ffilz
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PCs have a habit of wanting to travel faster than armies... But the Roman army is a good data point for setting up travel rules.No doubt. But 30 miles is about 50 km, so I suspect that most armies would simply walk far less, and be in some shape to defend themselves if necessary.
Like, see what the legionnaries were totting around and how much they were marching per day...30 kms on Roman roads and about half that or campaign, IIRC? (That's about 20 miles in Imperial). But they were lugging around enough stuff to set a fortified camp at the end of the day.
So, 2/3rds of your max speed, and they were very much ready to fight at the end of the day. "At the end of their day's march" was still considered a good time to fight an enemy army if you could, I say (summoning Sun Tzu as a witness), but they weren't defenceless due to exhaustion by any means.
When it comes to speed, yes, about 50 km per day, and no more than 3 days, seems like the best you can get people to give - that's what I've found on the abilities of Japanese shinobi (and it was considered an exceptional achievement because that's cross-country*). Granted, they were usually carrying messages, or running from people, so speed and success were the same thing (and if they got chased down, that was quite probably it, not because of tiredness, but because the pursuers had superior numbers anyway...and if they can chase you down, they're obviously no more tired than you).
*Although it pays to remember those people grew up carrying weights and marching cross-country. Oh, and they were often natives of the area, or had access to friendly local guides, so they did probably take comfortable pathways as much as possible, so maybe not all of this was cross-country.