ESC ABS FCWS SERV 4WD simultaneously

[2022ram15005.7]

Just bought a 2022 ram 1500 Laramie this most recent September with 18700 miles and I’m currently at 23000 on November 29th. Just took my first trip to the mountains and used the 4wd worked just fine there and back then after I went to the car wash I got an ABS ESC and FCWS light in my display. Drove back from the car wash with no issues
This morning went to go to the gym and turning left was very difficult and the truck stopped rolling while wheel was turned. The idle seems more rough and all turns feel like slipping on ice. Could this be a wire/faulty sensor in relation to the ABS??

 

[Marine6212]

This morning went to go to the gym and turning left was very difficult and the truck stopped rolling while wheel was turned.

Sounds like 4wd did not disengage

 

[2022ram15005.7]

Sounds like 4wd did not disengage

When I left the wash I put it into RWD but now it’s not showing any lights for any of the drive types. Is there a way to fully disengage it that I’m missing?