Unless we steal the rules for Chases (https://www.d20pfsrd.com/gamemastering/other-rules/chases/), there isn't a per-se Athletics check that reflects both speed and endurance the way you would for a three-kilometer run, so I think we can generally make that up.  Maybe do three DC 10 Fortitude tests, each successful one scores a point, each result of 15+ adding another point, with ties going to the single highest roll and then genuinely too-close-to-call tied afterwards?