Trans is in limp mode because it thinks the front wheels aren't spinning with the rest of the wheels. Have the speed sensors replaced and reset the obd2 system.
Speed sensors will only disable the abs system not keep the transmission from shifting.
SOURCE: 1993 jeep grand cherokee laredo 4 wheel drive
I'm not absolutely sure on the tire size for the jeep itself, but I think they are 225/65/R15's. Not absolutely sure.
As for the noise, from your explanation, it sounds like the transfer case is under a heavy bind. Take it off of the road in some grass or dirt and then move it forward a few feet then simply hit reverse. Don't move much maybe an inch and it may release the bind. Once you get the bind off the transfer case, it should slip out of 4wd, unless there is damage in the case/shifter itself.
When operating four wheel drives, with tires of different sizes it causes extreme stress on the gearing in the transfer case. Larger tires don't turn the axles as much as smaller tires. So, this causes stress in the driveline as the front is actually turning slower then the rear. In turn, this will put so much pressure on the gears that it could cause damage and the shifting mechanism will not work correctly to pull it out of 4wd engagement.
Try those ideas, and see if you can get it out of 4WD. Definitely put four tires on the jeep that are all the same size. This will keep you from having excessive stress on the transfer case and gearing therein.
I hope this helps out buddy.
SOURCE: I pulled the codes and here they are : C0036, C0035, C0040
Sounds like you need front wheel speed sensors. Replace the wheel bearings and sensors. May have an ABS unit fault, but more likely is both wheel bearings/speed sensors.
SOURCE: HOW TO REPLACE OR REPAIR WHEEL SPEED SENSOR
It is part of the bearing hub assembly.Very have to do without air tools,If setting multiple abs/tc code (wheel speed sensors) probably abs electronic module or chaffed wires on drivers side at ac lines by air box.Have big problems with this and probably will come back.
SOURCE: 2002 E350 van-ABS light stays on. Have replaced
unfortunatly .it requires a computer to remove the code.if youve done that you have access to one. go to the abs functions and tell it to bleed.
Testimonial: "Many thanks, will try the computer/Bleed"
SOURCE: I own a 2002 Jeep Cherokee. Where is the oxygen
the bank 1 and 2 refer to what side of the car ir is on. Bank 1 is passenger side bank 2 is drivers side sensor 1 and 2 refer to before and after the catalytic. sensor 1 is before and 2 is after . i hope this helps and just a references if your cam shaft sensor and crank shaft sensor have not gone bad yet i would have them checked. usually these go bad really quick on jeeps. just had to replace both my cam and crank sensors and with out labor it cost around 100 with labor about 150 to 200. and the o2 sensors run anywhere from about 50 to 150 depends on the quality you want
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