With the 35's and 4.56's you are probably pretty close on the speedometer since the 91 and older speedometers are gear driven and your tire/gear setup is only slightly lower than stock. Two quick ways to check:
1) Drive at steady 60 mph down the interstate and time how long it takes to go one mile; using the mile markers, not the odometer. It should take 60 seconds. less than 60 seconds speedometer is lower than actual speed. More than 60 seconds, speedo is reading faster than actual speed.
2) If you have a GPS, compare the speed function with your trucks speedometer. This method is very acuarate.
If you find that it is too far off for your needs, it is pretty simple and cheap to fix it by changing the drive gear for the speedo. (and you won't have to do math in your head to know how fast you're going)
Use this formula from Bronco Graveyard to figure out which gear you need:

(picture originaly posted by Seabronc)
You can order whichever gear you need from
Bronco Graveyard for $10.