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This recently happened to my 98 Subaru Legacy Outback.
My problem is in the rear differential. May be the same for you.
When making a turn, the car sounds like a Star Wars T.I.E. Fighter. The outside wheel is not turning fast enough to keep up with the inside wheel or vice versa. AWD is disengaged and car is currently operating on Front WD. I was told this is fine to drive this way.
This transmission has a 4 wheel drive unit on the back of the trans this has a known fault which this unit could have, take to your local trans specialist and he will be able to verify and qoute, You also could check the fuse for the 4 wheel drive. normally in the fuse box under the bonnet marked 4wd or awd, this also would cause your fault.
Did you know that there is a fuse under hood on Passenger side that I have seen people put the fuse in the missing spot. Problem is it is only for towing the car. Remove if fuse is present and see if it fixes your problem.
This problem is usually caused when the transfer solenoid/valve assembly goes bad, it's located in the transmission extension housing & needs to be replaced. it can be done without removing the transmission.