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What were the road conditions like when the warning appeared, how were you driving, and have you replicated them since clearing the codes & uninstalling the Cobb?
What I am getting at is if it was icy or whatever and maybe you were getting on it a little, you exposed an incipient problem with the AWD system. I would try to get the problem to come back w/o Cobb installed and then document it and take it back to the dealer.
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