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If you have ride animals, your infantry will ride on them while traveling which increases the speed. You only need as many ride animals as you have infantry.
Don't know if the quality of the horses affects how much speed bonus they give, I doubt it.
A good rule of thumb is to have as many horses as you do infantry/ archers. Beyond that, you can have about twice as many animals as soldiers before you get the "herd" debuff.
Horses/mules = more carry max
Pack animals (mules, sumpter horses) don't count toward the horses for footmen bonus.