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Welcome, I'm Chris and independent contractor that helps customers here.
Any concerns at all in 2wd?
Does this only happen when turning?
My thought is all 4 tires do not match size, brand, age, and tread depth or your driving on a surface that does not require 4x4 (to much traction)
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So the road was 100% covered in ice, none of it was just wet or dry and all 4 tires are identical?
Since the ground you were on was not 100% slippery traction surface then the cause was the amount of throttle being used causing one or more tires to try and spin when the others could not from the traction they had. Using the 4x4 only when needed (when you can not move forward or reverse) and less throttle should resolve this noise and feeling.
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