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As keenly observed by @Roshan, the Turtlebot3 simulation linear velocity can be set higher than the physical robot.

The main function:

void Turtlebot3Fake::commandVelocityCallback(const geometry_msgs::TwistConstPtr cmd_vel_msg)
{
  last_cmd_vel_time_ = ros::Time::now();

  goal_linear_velocity_  = cmd_vel_msg->linear.x;
  goal_angular_velocity_ = cmd_vel_msg->angular.z;

  wheel_speed_cmd_[LEFT]  = goal_linear_velocity_ - (goal_angular_velocity_ * wheel_seperation_ / 2);
  wheel_speed_cmd_[RIGHT] = goal_linear_velocity_ + (goal_angular_velocity_ * wheel_seperation_ / 2);
}

https://github.com/ROBOTIS-GIT/turtlebot3_simulations/blob/master/turtlebot3_fake/src/turtlebot3_fake.cpp

Doesn't check for:

#define MAX_LINEAR_VELOCITY             0.22   // m/s
#define MAX_ANGULAR_VELOCITY            2.84   // rad/s

found at: https://github.com/ROBOTIS-GIT/turtlebot3_simulations/blob/master/turtlebot3_fake/include/turtlebot3_fake/turtlebot3_fake.h

To simulate accurately, it's suggested to just a check for maximum velocity like in the teleop program:

def checkLinearLimitVelocity(vel):
    if turtlebot3_model == "burger":
      vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)
    elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi":
      vel = constrain(vel, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)
    else:
      vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)

    return vel