Recently replaced the rear diff and clutch on my X, these 2 lights were going off before though. After about 10 minutes of driving “service 4wd system” will pop up then shortly after “service ASC system” will. Shut the car off, turn it back on, same thing, the lights come on after droving for a bit. Car feels just fine. First thought it was related to replacing the diff and clutch but remembered it came on before. Stealership is about an hour away, just trying to get a better idea of what’s going on with it before i head there, trying to avoid it also. I was thinking it could be a steering angle sensor or maybe a wheel speed sensor?

 

Forgot to mention, car does need both front wheel hubs that I’m replacing tomorrow, but really doubt that would set off the service lights

 

Most likely a wheel speed sensor, check codes and see for sure.

 

it could be you didnt bleed the differentials properly.
but won't know for sure until yuu get it scanned..