@Slartibartfast
Thanks for the super helpful response!
I followed the diagnostic flow charts in the service manual (relevant pages seemed to be EF&EC-38, EF&EC-39, AT-39 through AT-42, and wiring diagrams on AT-36 through AT-38). You're right on the money, ECM has a code for 14--vehicle speed sensor. Going through the diagnostics in the AT section showed that "Vehicle speed sensor circuit is short circuited or disconnected" (AT-40). This prompted me to check the voltage at terminal 24, see attached screenshot from the manual.
I'm a little confused by this check--am I supposed to measure the voltage at the harness when it is disconnected? Or am I somehow supposed to measure the voltage at this terminal when the harness is connected to the control unit (not sure how I would do the latter)?
I disconnected the harnesses from the A/T control unit and measured the harness side voltage while my dad was driving 1-2 mph. I was seeing readings of 1-3 V, which supposedly is normal according to this flow chart. The spec of 0-5V shown in the flow chart seems super vague though. Any ideas on where to go next?
One other thing I noticed: the diagram on AT-38 shows the vehicle speed sensor going through the speedometer before going to the ECM and A/T control unit. So since my speedometer isn't working, and yet my A/T control unit is apparently getting an acceptable signal (if I did the test correctly), wouldn't this narrow the problem down to the speedometer servo motor (or whatever physically drives the needle)? Although this wouldn't explain the engine code...