This AvWeb article recommends 700RPM to avoid excessive use of the brakes during taxi -
Another common taxi mistake I often see is carrying too much power and riding the brakes to control taxi speed. This is especially common in twins, because with two engines running they have considerable idle thrust. Rather than using 1,000 or 1,200 RPM and having to ride the brakes, try 800 or even 700 RPM for taxi. This is especially important if you’re taxiing downwind (which is normally the case if you think about it) or taxiing on a downgrade.
This pilot review of the G58 states that it can be taxied at idle - We Fly: Beechcraft Baron G58 - FLYING Magazine
The trick when taxiing the G58 is to be sure the throttles are back at idle to avoid riding the brakes