2002 Pathfinder all-mode 4WD

[Path02]

I have a 2002 Pathfinder SE. When I bought it at 97 000KM the auto feature did not seem to work properly, felt like it was in 4wd, locked and binding on hard surface. Did a brake job, new rotors and pads and problem solved, was able to have it in auto on dry pavment with wheels turned all the way, no binding. A year and a half later back to the problem with auto going to 4wd. Just did a brake job but it didn't solve the problem this time. No trouble lights for 4WD and everything seems to work fine except the auto feature. Any answers?Thanks