Great question, here comes the mother of all spherical cow estimates
Proposal: The limiting factor is force the ground can absorb.
I propose that what keeps a kaiju from decelerating too fast is the amount of pressure it can put on the ground before the ground shatters into....whatever the ground shatters into under a kaiju's foot. If it 'shatters' the ground, the foot slips, and it won't be able to stop quickly, so that will be our limit.
We'll assume the monster's body is sufficiently muscled to do anything a human can do, including taking the same strides relative to the body.
How much force can the ground take?
Based on a powerpoint on building foundations, lets assume that the bearing stress on good quality bedrock is 10 MPa.
How much force does a monster put out?
A human sprinter generates a ground reaction force of ~3000 N for a 60 kg sprinter, while accelerating at 3 m/s$^2$ over 10 strides each of 2 meters.
The monster is 20,000 tons or lets round to 300,000 times the mass of the sprinter. If the monster is the same shape as a human, by cube law, it should be 70 times longer in each length dimension.
First, lets make sure the monster can stand on the ground. Two human feet are 200 cm$^2$; a kaiju's equivalent feet would be about 100 m$^2$. Lets say its got big Godzilla feet, so that is really 200 m$^2$. $2\times10^{7}$ kg times $g$ over that area is 1 MPa; well under the bedrock strength.
An equivalent human full force footfall is 5 times more force than standing force (3000 N versus 600 N for a 60 kg person); the kaiju's standing 1 MPa times five is 5 MPa; still below the bedrock limit, though perhaps barely.
How long does that take to stop
A kaiju with roughly human dimensions and feet with twice and much surface area proportional to its body size could accelerate and decelerate at the same rate a human could.
Usain Bolt can get to just under 30 mph in 6 seconds, so he could decelerate in roughly the same. He gets to 15 mph is half that: 3 sec.
Therefore, it is reasonable for the ground to support a kaiju doing the same. Of course, it takes 60 strides for Usain Bolt to come to the full stop, while we are assuming that the kaiju has the musculature to do it in about one stride.
Conclusion
The force required to stop a 20,000 ton kaiju whose running mechanics are similar to a humans should be low enough to allow the kaiju to stop within about 6 seconds from 30 mph and 3 seconds from 15 mph.
This is assuming a good, strong bedrock surface that the kaiju is walking on; the kind you need to support tall buildings in Manhattan or Tokyo, in case your kaiju is into that. On softer ground, no promises. And of course, everything between the kaiju's foot and the bedrock should be thoroughly pulverized.