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Speedometers tend to read about 5-7% fast because it's illegal in many (all?) countries for them to read even 1% slow, so the manufacturers err on the safe side. Yes, through coding there is a way to get the computer to display a digital speedometer in your cluster WITHOUT the "safety" adjustment factor added. It might still not match GPS because as others have mentioned, inaccuracies in the electronics and factors like running non-standard tire sizes or even different levels of treadwear can all affect accuracy, but the "true" speedo should be substantially closer to GPS.
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