Abstract: An electrified vehicle includes an engine configured to selectively apply propulsive torque to wheels of a first axle of the vehicle, a first electric machine configured to selectively apply propulsive torque to the wheels of the first axle of the vehicle, a second electric machine configured to selectively apply propulsive torque to wheels of a second axle of the vehicle, a traction battery electrically coupled to the first and second electric machines, and a controller configured to control engine torque, first electric machine torque, and second electric machine torque to provide a driver demand torque at the wheels of the first and second axles. The controller allocates torque between the first and second electric machines based on associated combined losses of the first and second electric machines and maintaining the torque of the first and second electric machines in the same direction.