2015 Jeep Grand Cherokee WK2 Clicking Noise and Service 4WD System Error

My wife's 2015 Jeep Grand Cherokee ecodiesel with about 130,000 miles developed a clicking noise on startup and while driving. The Service 4WD System error on the dash as well as a traction control light. It also shifts hard occasionally and feels at times like it is stuck in four wheel drive.

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