I wouldn't trust Google maps. In my experience I have seen it off by as much as 5 mph on my 2023 Honda.
If you can find one of those road signs they put up that measure your speed in real time, that would probably be more accurate.
I haven't used the app that luzer recommended so can't speak to that.
Or you can use highway mile markers. Drive at a constant speed throughout the mile. Divide the seconds it took by 3600 and that is your actual speed. You can then compare that to your driving speed to see if the speedometer is accurate.