SignalR efficiency and memory efficiency
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You should probably use a testing tool like "crank" to see how your particular setup is performing. There are too many variables to give any final answer as stated.
I believe Damian Edwards and David Fowler have tested to get up to 150K plus connections on a single VM, but this is just a stress test and may not provide your answers. As far as I can remember, it was a very modified setting for this.
(linking for reference only) https://docs.microsoft.com/en-us/aspnet/signalr/overview/performance/signalr-connection-density-testing-with-crank
https://github.com/SignalR/SignalR/tree/master/src/Microsoft.AspNet.SignalR.Crank
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