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yeah when you are in 2wd your abls is still active for the rear, and when those rear wheels slip (slamming it in dirt) the rear will abls will kick in and you will hear the abs grinding, the slip light indicates to you that the vehicle detected slip, and abls is kicking in...all normal....i guess the noise could be annoying but like i said before i like it cause i know the abls is acutally doing its thing...
never hurts to get it checked though if it will ease your mind...these are expensive machines and we want them to work properly...i am confident however, that mine is working how it should...
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