Firstly, I have no idea how far Asgard is away from Earth in the Marvel Cinematic Universe.
Thor, and other characters have used Bifrost as an express elevator to other worlds, but I have no real idea of how far they've traveled and how long those trips have taken.
Have there been cases where Thor (or someone else) has traveled to/from/back to Earth or another world that allows us to infer the speed of Bifrost?
Or is there something in-universe in the movies/comics that tells us?