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If you're taxiing fast enough for the rudder to have effect, you're taxiing too fast, and in the real world would be quickly wearing out tires and brakes.
You are correct about them using differential braking if they don't have a steerable nosewheel.
Rob Machado in the in-sim Solo Flight: Taxiing ground school and my real-world Cessna 172 instructor would disagree with you. :-/ Perhaps you are thinking of airliners that use tiller steering in real life?
In the real world I use the rudder for standard turns and the rudder plus toe brake for tighter turns as needed. I don't get told by my instructor to slow down, which implies my taxi speed was appropriate. Perhaps the aircraft I fly in-sim and in the real world are more sensitive to the rudder than your aircraft. Or your reply was meant for larger aircraft rather than smaller GA aircraft.