As I previosuly posted on a similiar question:
The fact is, there is no problem with you Explorer. When the 4X4 is engaged, the hubs become locked to the axle and turn at the same exact speed. When the wheels are turned, one of the wheels will naturally spin faster and attempt to spin, through the axle, the other wheel at the same speed. For this reason, in 4X4 mode, the vehicle bucks and jumps when this is done on a non-slip surface. In low range, gearing amplifies this.
The bottom line is, DONT EVER HAVE THE VEHICLE IN 4X4 ON A DRY SURFACE !!! You will cause SEVERE damage to the 4X4 components,
if you continue to do this. I personally, only engage 4X4 in snow or mud. When I reach the dry or CLEARED non-slip surface, I disengage the 4X4 and reverse 10 feet to UNLOCK the hubs from the axle.
Good luck, Doug