First, see if it is a glitch. Unhook your battery overnight to clear the computer and see if it happens again.
If it does, my first thought would be a bad wheel speed sensor (or broken wires going to it). Without being able to read the speed of each wheel the computer can’t run the antilock brakes, electronic stability program, or brake lock differential when in 4wd.
You could verify this by getting an auto parts store to read the codes for free. You may have pending codes even if the check engine light is off.
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2008 Liberty Sport 4x4 Automatic
Jeepin By Al 4" Lift Kit
BFG KO2’s 245/75R16
Full MOPAR skid plates
Rock Lizard Skink Super Sliders
AtTheHelm Front Recovery System & Roof RackM116A3 Trailer build thread: viewtopic.php?f=72&t=77997