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Engine Crunching with VSA Activation, then VSA, SHAWD, AFS lights all on

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To begin, I even checked the thread about the threads to see if I could find this exact issue.

I have a 2009 RL and just recently I’ve run into a recurring problem: either all three of the VSA, SHAWD, and AFS lights come on within seconds of startup, or I begin to accelerate (slowly, straight, on dry ground) and I hear a crunching sound coming from what sounds like my engine bay, while my VSA triangle flashes, and my car subtly jolts around, followed by *ding* “Check VSA System” *ding* “Check SH-AWD System” *ding* “Check AFS System”

The problem does not occur if I disable VSA on startup, but eventually SHAWD and AFS lights come on around 5th gear/overdrive shift. However, before I get to that shift, I have noticed in the SHAWD section of the dash display (that shows the amount of power going to all 4 wheels marked by little squares) that my back left wheel is receiving little to no power at all times, regardless of turning or level of acceleration. Then once the warning lights have come on, of course the failsafe of only powering the front two wheels comes on, and I’m back to driving normally, but with no VSA or SH-AWD or power to my rear wheels.

My battery is only two years old and puts out plenty of power (had it tested).
I have an aftermarket subwoofer and amplifier installed, but the issue arose before that.
I am thinking of replacing rear diff fluid because Jiffy Lube doesn’t replace that with their oil change like they do other fluids.

Any ideas?

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