This sounds like a sensor issue. Maybe a speed sensor or the sensor in or near the trans. It is a good possability that one of these sensors is reading that one of the wheels is not turning as fast as the other three, or that the AWD sensor is reading that something is wrong inside the trans. It might not be a major problem right now, but it could become one. It also might tell you that the awd in inactive and that it resorted to the traditional Safari/Astro rear wheel drive format. I hope that this helps. Please do let me know what the outcome, if any.
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