Your speed vs. RPM sounds like you have 4.10 gears, but we can't be sure your speedometer is accurate. You can't even that your tach is accurate -- they have been known to be way off from the factory.
The surest way is to do what Roland69 suggests. Only, you should mark the wheel and driveshaft, and have a helper rotate the wheel 10 times, while you count the driveshaft revolutions. The reason for turning the wheel multiple times is that it can be very difficult to distinguish between 3.1 revolutions and 3.3 revolutions. Or between 3.5 and 3.7 revolutions.
Whatever number you come up with, divide by ten. 31 revolutions = 3.08s, 33 revolutions = 3.27s, etc, etc. You may wish to do this a couple of times just to make sure you or your helper don't miscount.