Run a Scan to see if you can get any codes. I just had a similar situation happen.
No major noises but the dash lights up for the BRAKE, ABS and 4X4 intermittently comes on then when I park and restart all is good until 1/4 mile.
Ended up being the Transfer Case Servo Motor /Actuator.
https://www.eeuroparts.com/Parts/167...Motor-SP00116/
Replaced and all is well.
Good luck.