55 MPH.
Here's my thinking.
I started with the premise that an average speed is about 60 MPH. Well, that means in one hour, you would have driven 60 miles. In another hour, that's 120 miles. So, I added 120 to 15,851.
15, 951
+ 120
-------------
16, 071
But, I'm looking for a palindromic number that's close to that. And, sure enough, there IS such a number: 16, 061.
That would mean that you traveled 110 miles: (16,061 - 15,951)
Plug this data into the formula: S = D/T (Speed = distance divided by time)
S = 110/2
S = 55 (MPH)
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Pretty cool, huh?