I guess it depends on what you call "rapid".
While training in the PA28 I don't recall doing a specific check on rudder travel other than just noticing any restrictions during normal taxi. In the normal course of taxiing you typically make at least one left and one right turn to get to the runway (including maneuvering for the runup) so you have a pretty decent idea on whether things work. But I admit you don't necessarily apply full rudder in both directions this way.
When I started doing aeros in the R2160 we were taught to do a full and free rudder check specifically. At my club we typically use the former heli platform next door. This is done at slow taxi speed - it's a tight area. Full right rudder application with moderate force requires about 1-1.5 seconds to reach full deflection, then full left rudder requires about 1.5-2 seconds to reach full deflection. In that time the aircraft has traveled forward maybe some 20 meters, and has a sideways deflection of the taxi path of about 5-7 meters. And is incidentally nicely lined up with the exit of the heli platform.
So the full check will take about five seconds in total, during which the aircraft moved forward some 20 meters. That seems to be the maximum that this particular aircraft will handle comfortably, without feeling overstressed, squeeling of tires etc.
I would not check rudder movement while standing still with any sort of linked nosewheel. If only because of the wear on the tires. Unless it's spring-loaded and the POH specifically permits it.
(On the other hand, in a castoring nosewheel aircraft like the DA40 you are continuously applying full rudder deflection just to keep the aircraft straight during taxi. No need for specific checks there.)