It can vary, but the range is from 2 to 4 mph. In the city, under little or no load, on average terrain figure 4 to be a good pushing average. In the hills hiking under moderate load, figure 3. Under heavy load, or rugged terrain, figure 2 mph.
That sounds right to me.
I would add that when bushwhacking through deadfall or detouring around endless bogs, 1 mph is about the best you can plan on.
As was mentioned before, walking distance is more accurately measured in hours than miles.
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