4.11's and a ZF with stock tires should be doing 2372 RPM at 70 mph, and 3.55's with the same configuration should be doing 2049 RPM. Those are pretty close to your numbers, so my guess is that his truck has 3.55 gears and your truck has 4.10 gears.
With that having been said, it wouldn't surprise me if your speedometer's off. If you don't have a GPS, you can download an app for a smartphone that acts as a speedometer and, since it's using GPS data, it should be pretty accurate. Another possibility is the tach's off...
With a ZF, the only other option is clutch slipping, although it it were that bad, I think you'd be having different problems...