P500, P420 and P430 codes

Hi All,
2005 TRD off road 6 speed

I did a search and didn't see anything addressing all three of these codes..
P500- Vehicle Speed Sensor Malfunction
P420- Catalyst System Efficiency Below Threshold (Bank 1)
P430- Catalyst System Efficiency Below Threshold (Bank 2)

I've done research on P420 and P430 and it seems it's the O2 sensors or something in the catalytic converter. I' not due for a smog until next year so I'm not too worried about those codes.
However P500 has me stumped. I have and Ultragauge and it does not give me MPH and everything that is calculated with MPH; MPG, Average MPG, ect... All this said, my "on board" speedometer is working and seems accurate. Another thing is that the cruise control doesn't work. Sometimes when I'm on the freeway the Ultragauge will suddenly register MPG and cruise control will start working. This usually last until the vehicle is turned off.

I would greatly appreciate any tips to get my vehicle working properly.

Thanks!!

-B

 

Anyone?