Wheel RPM requirements will be relatively low even at 200 mph. For example, a car would likely benefit from a lower KV motor because you would need lots of torque rather than RPM to start pushing the vehicle from a standstill. This gives you a convenient reference as to what motor to choose based on your application. The higher the KV, the higher the RPM for a given voltage. Yes, KV rating will affect the speed or torque. There is no single "most effecient KV" for all cases.
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