First, the markers on a motorway are at 0.1km intervals, so one mile is 16 of them, not 10.
With the set-up you describe, 70 mph is about 3200rpm in OD 4th, so 40mph will be 1800. In direct 4th, the figs are 3950 and 2250.
The formula is 60000/axle ratio/tyre turns per mile = mph per 1000 rpm.
Overdrive increases the result by 1/0.803
Your car set-up is the same as mine, and the gearing cancels out my speedo error, so my speedo is accurate, but the odometer is 4% under. If the speedo were accurately adjusted, it too would under-read by 4% (so 70 would be an indicated 67)