Nasty snowstorm! When I started my truck and selected 4HI, a message came on the dash to service 4WD and stayed until I dismissed it. The 4wd indicator on the info screen is in yellow. When I go back to 2wd, the bar over the 2wd is gray and the bottom bar along with 2wd is yellow. The dealer says ok to drive if everything else appears to work ok. I don't want to damage anything. Hoping it is ok to drive.

Indicators in yellow

 

Did you ever figure this out or just continue to drive with it? Just happened to me on my 2020 today.