I wasn't having anything that felt like "grabbing" or any other symptoms, but I did have Service 4WD message on my information center display.
Some of our experienced members suggested I might have a dirty commutator on the 4WD actuator.
They may have been right. After selecting the different modes a few times up and down the buttons, switching in and out of every mode a couple of times.
I never had the message return.
Now, when I think of it, I will shift out of 2WD and exercise the actuator in and out of the other 4x4 modes a few times.
Usually on a gravel parking lot or very short distances on pavement that are straight.
I like the gravel lot and use that most of the time, running the different modes in forward and reverse.
I also put into 4L, because I know that was probably never done before by PO.
Note to anyone with just the message on the info. center display and no other weird 4x4 symptoms or noises: Before replacing parts, try exercising the actuator with hitting the different buttons to move from mode to mode first. It may fix itself just by getting exercised a bit. I feared the worst at first, then ended up having to basically do nothing involving parts or money.