How to calculate actual Baud Rate and its percent error?
First, look at the code used by the Arduino core library to configure
the USART baud rate register: it's in
HardwareSerial::begin(). The general formula is
uint16_t baud_setting = (F_CPU / 4 / baud - 1) / 2;

but beware of the hard-coded exception. You can replicate that part of
the code in your own.
Then, look at the ATmega328P datasheet. More specifically, at section
24.4.1. Internal Clock Generation – The Baud Rate
Generator. Here you find the formula
BAUD = F_CPU / (8*(UBRR0 + 1))

assuming the U2X0 bit has been set (again, beware of the hard-coded
exception). Combine both formulas and you get the actual baud rate.