[log1call]

Hi there Stewertracing... not your week I see.
Did you get the other problems sorted?
This sounds like the clutch that applies the AWD is being kept on all the time, when it should be releasing every few milliseconds to allow a bit of slip in sharp turns.
There are two things to do to diagnose it.
First get the trouble codes out of the transmission. It is a simple process using the key and gearshift. Get old and current codes. Then clear the codes,(another simple process), then go for a test drive trying to get all driving conditions included and recheck for trouble codes. That is all the first step.
Second step is to put a fuse in under the bonnet and see if the problem goes away. The fuse is near the brake booster, well it is in New Zealand anyway. It is described in the owners manual as a "two wheel drive switch".
Put the fuse in and go to the parking lot and see if the problem is "cured".