Abstract: A vehicle includes a first axle, a second axle, a driveshaft, a first clutch, a second clutch, a third clutch, and a controller. The second axle has first and second half shafts. The second axle has first and second wheels. The driveshaft is disposed between the first and second axles and is coupled to the second axle. The first clutch is configured to selectively couple the driveshaft to the first axle. The second clutch is configured to selectively couple the first wheel to the first half shaft. The third clutch is configured to selectively couple the second wheel to the second half shaft. The controller is programmed to repeatedly connect the first axle to the second axle via the driveshaft by alternating between (i) closing the second clutch and then the first clutch and (ii) closing the third clutch and then the first clutch.