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Pull out the speedometer cable where it enters the transmission or transfer case then inspect the "driven gear" for signs of wear. Let's hope it's not the drive gear inside the tailshaft or transfer case.
Look inside at the drive gear. See if it is worn. If not then you may need to lubricate the cable. I have never had the need to do this, so I really cannot help you there.
If the drive gear is worn then you have a much bigger job involving disassembling the tailshaft or transfer case.