Install iperf, for example on Ubuntu or Arch use one these commands:
Ubuntu/Debian:
apt-get install iperf
Arch:
yay iperf
On computer one, run iperf in server mode:
iperf -s
On the other, run iperf in client mode:
iperf -c 192.168.0.10
If you want to see the full duplex speed, try this instead:
iperf -d -c 192.168.0.10
Substitute 192.168.0.10 for the servers IP address