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"Imagine if you always had to follow the same speed limit no matter whether you were driving to McDonalds or to the hospital"

in what jurisdiction is it legal to speed due to a medical emergency ?

Might not be explicitly legal, but chances are it'd go like this:

Police: Sir, do you know what speed you were going?

Driver: Yes, my wife is in the back and she's about to go into labor.

Police: Let me turn on my lights and escort you to the hospital!