UPDATE - The "Service StabiliTrac" message and warning lights magically went away several hours after they came on.
Drove the truck for a day, then this morning when pulling out of a parking spot I heard a metal on metal rubbing sound from under the truck and the "Service 4WD" message came back on and the truck once again will barely move during tight turns.
Back to service we go...fourth time in 2.5 weeks, third time for the same issue. Last time service told me they were 95% sure they found the problem - which they claimed was a terminal in the transfer case that was not fully connected.
Such fun.
Check out the lemon laws. 3rd time may be the magic number for you.