How can I see speed limits and my speed in Maps?

This is a user to user only forum, so we can't bring you want you want. But Apple does read feedback here, so tell them what you'd like to see --> Feedback - iPhone - Apple

I doubt what you want is realistic. It would require maps to be open and tracking you non-stop.

To see your speed, you look at your speedometer. Speed limits are shown only for major routes. If you want up to date speed limit info for every segment of every road, Apple Feedback.

Tomball wrote:

iOS Maps shows the speed limit when I have an active route. I would like it to show the speed limit at all times, and to show my speed

As I recall, Waze used to do that. I haven't really used it much since it got sold to Alphabet so I don't know if it still works that way.

To see the speed limit in Apple Maps, simply tap the magnifier to see the street view and look for a speed limit sign.

Otherwise, you’ll need to provide ⇢ Product Feedback.

Reference ▶︎ Apple Maps User Guide. 📖

Good luck! 👋🏼😉