It depends on where they are going.
Generally turns are made below 10kts (about 18kph), while on a straight taxiway they get up to about 30kts (about 55kph).
Obviously the speed in tight areas, and areas that need turns, is lower. Initially approaching the gate is done at about 5kts, slowing down as the aircraft nears the gate.
It also depends on the aircraft type... an A380 is going to taxi around in a much more gentle manner than a Dash 8.
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