Hi,
How many miles were driven prior to realizing they were different? The idea that the 4wd light came on was likely due to the vehicle thinking there was a slippage in the tires. One was turning faster than the other. If you drove a short distance, it shouldn't have hurt anything if it was always in 2wd. Extended driving could cause a problem. Damage comes in from the heat build-up from the tire diameter difference. That adds wear on fluids and any clutches involved.
What I would recommend is to start by checking the fluid in the transfer case and both differentials. Make sure they are clean and full.
Pic 1 below shows how to check the transfer case fluid.
Pic 2 shows how to check the fluid in the differential. I highlighted the fill plug. Remove that plug and the fluid should be to the top of the lower threaded part of the bolt hole.
Let me know what you find.
Joe
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Tuesday, May 11th, 2021 AT 9:04 PM