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> typically selectable but cannot be changed while in motion

Not true for a long time now. Manually locking hubs required egress while stopped but at some point 4wd tech progressed.

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Yeah, the most advanced systems can switch between 4WD and RWD while the drivetrain is under considerable stress too. For instance, the F90 M5 can engage the front wheels on command while in the middle of a power slide and let the front wheels pull the car out of the slide.

M5 is not 4WD. Just an electronically controlled clutch like my car.

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