I feel your pain... When the gear lash is tight the soleniod does not have the power to disengage. This occurs on slopes from the vehicle weight and from tires spinning at different rates of speed due to wear. If you look closely a rear tire is worn more than the other, likewise on the front. You turn radius in 4 wheeldrive is now also limited by binding. The fix will be frequent tire rotation left to right and front to back. That looks better with the same width wheels, lol, or it's time for new tires. A better front diff also helps, the RZR racing diffs are a direct fit and much better, but the tire problem is the main culprit, closely followed by the slope issue.