Is this a transfer case problem?
 

Hey guys, not really sure the exact problem, but I can get it to repeat.

In the past week, when turning while backing up, it feels like an old 4x4 locked in 4 wheel drive. I feel a shake in the steering wheel, and the truck almost feels like its hesitating. Does not happen when turning at low speed going forward.

Also, just before coming to a full stop at a light or a stop sign, at the very last second, I feel a stutter in the driveline. It sort of feels like the trans is downshifting, but I know its not, because I'm looking at the tach and its not jumping.

I've got no warning lights on, and vehicle status all checks out. The only maintenance coming up is rear brakes, but I've got a 4-6 months till that's up.

It is a '13 X5 50i M-sport with adaptive drive and active steering with only 40k miles on the clock if it makes any difference. Just put on a new set of DWS06 Conti's last month.

Is this a transfer case problem? Transmission issue?

Anything I can look into myself, or should I schedule a visit to the dealer?

Try doing it while you’re on gravel or a parking lot with a lot of rock bits. If the transfer case is locking up, you will hear the tires fighting the gravel as they slip slightly. I can’t imagine it being anything else. Maybe try unplugging the transfer case to see if the issue persists?