It depends on soil conditions, generally. I've seen recommendations for 3 diameters clear, sometimes 3 diameters center to center, even some that allowed piers to be adjacent to one another. The spacing recommendations should be in the same geotech report that gave you the pier recommendations in the first place, but absent that info, 3 diameters is a pretty good rule of thumb. It also applies to belled piers. Use 3 times the larger diameter.