Your ABS ecu is engaging the ABS solenoid valves because it thinks your wheels are locked up. The sensors are magenetic hall effect sensors so I'd pull them out and clean off the metal shavings stuck to the tip. This should be a five min job/corner.
Let us know if this works!
Would it be safe to assume the issue is in the front since the issue only occurs when in 4wd? Also just to be sure you're suggesting to pull each ABS sensor on the wheel hub and clean the sensors?
May have nothing or something to do with this issue but when draining my front differential recently it was noticeably darker than my other differential as well as the t-case. Just trying to provide as much info for this as possible seeing that it's been happening for while
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