Usually if you have a bot in a channel, it’s modded which has another rate limit.
If you send commands/messages only to channels in which you have Moderator or Operator status, the limit is 100 messages per 30 seconds.
If your bot is wanted in the channel, you can make the commands only work if it’s modded by checking the status on itself.
There is also Known status and Verified status which is noted on that same doc you listed. I believe that known is a whitelisted bot, and verified is for very very few bots that are very popular and are was granted a special trusted status. Being whitelisted and having mod in the channel greatly increases the number of messages that can be sent.
Also, you can add a delay or queue to messages being sent as a safeguard to never hit the limit.