Symptoms are sounding like from transmission but usually you will get the gear icon if things are out of whack from a control standpoint eg solinoid pressures etc.

If you can put in park and it locks, the transfer case is getting through to the transmission to the park prawl.

I would definitely want to read live values of the solinoid pressures etc which the laptop should be able to do but crunchy sounds usually means broken teeth.

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)