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2004 Xterra XE 4WD Auto 3.3L NA V6
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Take it out of 4LO into 2HI when on hard surfaces.

You need to call a dealer with your VIN to see if SMOD has caused you any issues. If it was never corrected, then that could be the whole story until now.

Also, you'll get better help if you start only 1 thread about your issue. If you have a new issue, then start a new thread.
 

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Check your transmission and transfer case fluid levels and color. Your transfer case could just be low on fluid.

If your transmission fluid is sort of creamy pink you have the dreaded SMOD. If not, then the issue is something else
 
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