Your GPS should be accurate. All vehicle manufactures set the speedometer 2 miles faster than true speed to give a safety margin. Then as your tires wear it will change slightly more. Next time you go to change out set of tires see how much its off. When you put the new tires it should be back to 2 mph off. This is with the OEM sized tires.
Not all manufactures. Only the ones with a two year unlimited mileage warranty. If it was a two year 24k warranty than the speedo and odometer whould have to be accurate.
The GPS and the speedo on my RG were virtually identical. At least they were before I went from a 96" to the 107". I should check again to see if they're still the same.
I have a Zumo 550 and with my stock guages the zumo was about 2-4 mph slower. Since i have changed to gauges from Medallion everything is right on from 0-80, oh and they look a heck of a lot better. JMO
Every motorcycle I've owned has about a 5% speedo error. The speedo always reads faster than actual speed. My Harley is about 3%, which is the best of the bunch.