Thanks to all for the quick and informative responses. Let me answer a few of the questions I should have included in my original post.
The bottom and prop are clean as the boat was just launched 3 weeks ago after new bottom paint
The speed of 4.1 knots I referred to is boat speed from a mechanical knot meter and not SOG from the GPS
The engine is 30 years old with 1400 hours
RPM at wide-open throttle is 3100 RPM
The prop is two-blade and folding
I have a 30-ft Hunter (306) with a 2GM20F with a fixed 2-blade prop, and our RPMs are exactly as you say: I tend to cruise at 2800, sometimes 3000, and rarely, 3200 (but not for too long). With a clean bottom, in slightly choppy water, I'm doing 5.4-5.5 knots, GPS-measured at 2800 RPM. My guess would be (given the age of your Tartan) that our boat is less streamlined than yours, with a broad stern. So I think you should be doing better than we are, or at least the same, not worse.
The folding prop may be part of the issue: I'm not qualified to have an opinion.
Just to remove the engine/prop from the picture, last Saturday I was doing 6.1-6.3 knots under sail in 15-17 knots apparent wind. So that tells you something about our actual hull speed, which is probably 6.6 or so, I'd guess.