The following is for my '94.
This thread was a huge help to me so I wanted to follow up with my own experience. I encountered speedo/odometer failure the other day followed by a flashing "O/D Off" light on the dash. Read the code and it returned a Code 42 (vehicle speed sensor #1). I was not experiencing any issues with the transmission shifting, rough idle, etc. While investigating the problem online over the next couple of days, the CEL (Check Engine Light) came on. It read a Code 71 (a super ambiguous "EGR"). After reading a hypothesis on another thread that the Code 42 can actually cause a Code 71, I decided to just focus on the Code 42.
While there is conflicting information on Mud as to which speed sensor is the No. 1, it is the one on the transfer case. I crawled underneath to discover the sensor was not only loose, but soaked in gear oil. Thanks to this thread, it prompted me to not only replace the sensor, but also the sleeve sub-assembly as that's how the oil was infiltrating the sensor.
Part number for the Speed Sensor is 83181-20040
Part number for the Sleeve Sub-Assembly is 33404-22010
This should not be confused with part number 83181-24060 which is also listed as a speed sensor and on some sites is actually labeled as the "correct" part number and even Norwalk Toyota's website states 83181-20040 will not fit. IGNORE THIS INFORMATION.
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If you are looking to replace the VSS (vehicle speed sensor) #1, 83181-20040 IS THE CORRECT PART NUMBER.
After replacing the sub-assembly sleeve and the sensor itself (I did go cheap aftermarket on the sensor as the ease of replacement in case of failure takes away any potential annoyance of having to replace the sensor more frequently), the speedometer and odometer started working immediately. I then pulled the EFI fuse to reset the CEL codes. I drove it 100 miles the next day and both the Code 42 and Code 71 stayed away. Between the $10 Amazon sensor and the sub-assembly sleeve ($28 from the dealership), the fix cost less than $40.
On a separate note, the tripmeter hasn't worked for the past couple years and I'm assuming it's related to a failed trace on the back of the speedometer itself. Here's an example thread of that issue. It seems to be the next step people take if replacing the VSS doesn't resolve the issue.
When I bought my '94, the speedometer didn't work. I did some Googling and turned up the VSS as a likely culprit. There was a good deal on NOS Toyota units on eBay, so I bought one. Didn't fix it. I read somewhere (here or maybe Expedition Portal?) about the speedometer circuit board looking...
forum.ih8mud.com
I hope this helps reduce confusion for those encountering this issue in the future.