For contextualization, in my world a phenomenon caused anomalous "creatures" (for a lack of a better term) to appear. Among these, I planned to have "creatures" capable of running at ludicrous speeds when compared to anything based on earth biology. However when researching about how animal movement and speed works, including on this SE, the main conclusion I got to is that any machine or organism that relies on limbs to move around and accelerate will always be necessarily less efficient than something that makes use of wheels or treads due to how friction works as well as other details (as a wheel will normally always stay in contact with the ground, being able to apply a constant force, differently from the paw system that naturally requires the limbs to leave the ground and has a smaller overall surface area at any given moment during the run). To attempt to mitigate that problem, I planned to make my creatures similar in overall anatomy to a house centipede, aka it would have multiple legs, each leg longer than the last one to avoid collision, so that it would always have at least one limb (or pair of limbs) on the ground at all times, essentially trying to get closer to a wheel's nearly constant contact with the ground (originally I planned for a total of 10 legs).
However, what I found on the movement and bodyplan of house centipedes stopped being useful to me, since I wanted my creatures to be much larger (around 2.5 meters long and ~1.5 meters tall, with a max weight no higher than 200 kg), and I couldn't really find anything to help me at such sizes. The fact that tiger beetles are proportionally much faster despite having only 6 limbs also made me doubt whether this approach would actually result in greater maximum speeds.
The ideal goal would be for the creatures to be able to maintain speeds of 150km/h for long periods, with max sprinting speeds closer to 500km/h (both assuming the creature is running on a straight line, unimpeded by obstacles). The creature's limbs end in 2 toes with claws and special rough skin used mostly to maximize traction. They predominantly live and run in terrain much like that of a flat Savanah.
Leaving worries such as the overheating problem and the resistance of the materials the creature is made of (these aren't my main concern, so as of now simply assume the creature is indestructible and fully capable of performing the necessary work without needing to worry about problems like overheating), is such an approach of having more limbs an effective choice to make my creature a faster runner overall? I couldn't really find whether the addition of limbs could provide any meaningful advantage or if a body plan of a centipede, with its hind(er?) limbs being longer than the previous pair, wouldn't cause drag-related problems given the creature's size and the speed it'd be running at, or at least not in the scale of approximately horse-sized (approximately 2 meters tall) animals.
If I've forgotten to add any important details, please let me know so I can add them.