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Service 4 wheel drive message

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Hub centered rims and NON-hub centered rims

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When I started my truck yesterday there was a message on the display that said "service 4 wheel drive" and the truck seemed to be in 4 wheel drive without me putting it that way. This morning when I started the truck everything seemed to be normal. Has anyone had an issue with this or know what is going on? Thanks for your help.
 
There will be a dtc/dtcs to help with diagnosing your issue.A scanner will be needed to diag accurately.
 
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