Check the connector plug to the display for moisture or corrosion (under the front fender), then the gear position switch connector, then the speed sensor connector (right-rear clipped to the frame). The battery condition must be good (should measure 12.6 volts or higher) as well. Make sure the battery terminals and the negative cable motor & frame ground (next to the starter motor) are clean. You can also check the ECM connector (inboard from the speed sensor and gear position switch connectors)... but be careful with it. Don't drop it or bend any of the connector pins. Sometimes unplugging and plugging the connector back in will restore a bad connection. Make sure the key is off when disconnecting/connecting electrical plugs, to avoid possible voltage spike damage to components.
Diags are in the manual for the gear position switch and the speed sensor.
I'd personally begin with eyeballing the harness connectors (number 1 suspect in all electrical issues) and packing them with dielectric grease (weatherproofing them, preventive maintenance) when plugged back in, then check for continuity through the gear position switch in each gear as the manual explains. If I were a gambling man I'd bet a buck on the fix being the ECM connector needing some TLC and some dielectric grease.
Let us know how it goes...