I would not use the terms CFA and driving in the same description. It is one or the other. Nor would I use the term average ground conditions.
For Auger Cast-in-Place Continuous Flight Auger in medium clay (say, Nspt = 10) down to 20m, expect about 10 minutes going down and 15 minutes going up.
Depends not just on soil but also your equipment (drill head torque and concrete pump).