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the fact the problem occurs when turing tells me the transfer case is locked in four wheel drive. the computer should keep the clutches unlocked until needed. its possible the reason it only hapens in reverse is because when the input shaft is turned in that direction it pushes the clutch drum tighter against the shift fork and motor. using a scanner or multimeter check the encoder on the motor to see if it is in the unlocked position when backing. if it is , is it possible to install a used motor that u know works? I'm thinking the motor could be holding pressure on the clutches even when in the unlocked position. if so the fix could be to increase the clearance on the clutch pack so the motor has to travel futher to apply the clutches. let me know