terrain management system

2012 Ford Explorer xlt 4wd 3.5L (non flexfuel, non eco) So while driving hard on dirt roads or while inducing wheelspin in any of the terrain management modes the vehicle with thro a warning on the dash saying 4wd off and go into a fwd only mode. I have to turn off the vehicle about 10-15sec...

Need some help. First a little context. 5 days ago I hit a deer (<10mph and deer hopped away after), but with only superficial cosmetic damage (cracked plastic license plate holder and plastic grill work). I had to point out to my wife where the damage was, that's how insignificant it was...