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Yup, something is broken in the driveline. Put in H and D, have someone get under it and look for something that is spinning. Start with the transfer case and see if the front or rear is spinning, then work you way down until the movement stops. Your broken thing will be between the spinning...

2 Wheel High? The fronts are probably binding, because you have the t/c in the wrong gear on non slick ground. -10 operator's manual... keep it in H for normal driving.