import bpy
from mathutils import *
from math import *
import abc3d.butils

v = 0
goal = 5.0
step = 0.1
speed = 1.0

C = bpy.context
obj = C.scene.objects['Cube']
curve = C.scene.objects['BézierCurve']

m = curve.matrix

def fun(distance):
    obj.location = m @ abc3d.butils.calc_point_on_bezier_curve(curve,
                                                                distance,
                                                                output_tangent=True)
    print(f"executed {distance}")

while v < goal:
    bpy.app.timers.register(lambda: fun(v), first_interval=(v * speed))
    v += step