DTC P0720: Vehicle Speed Sensor Circuit: Description
WARNING: This page is about a different car, the 2002 Mazda MPV. However, it is still accessible from the selected car via links, so may be relevant.
Vehicle speed sensor signal is 150 RPM or less while intermediate speed sensor signal is 1400 RPM or greater in "D", "3", or "2" range for 2 seconds or more.