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Only one rear wheel drives at any given time due to the type of differential in the vehicle. The will go to one wheel or the other as needed. If the vehicle was operated while it was suspended in the air it could have caused the light to come on. It could also be as simple as a bad sensor which is the most likely cause.
The only way to know for sure is to have it inspected by a shop or dealer and have the codes checked.
I think it will likely just be a sensor as this is most common cause.
Sorry I can't tell you for sure but it will have to be inspected in person.