Had the same problem yesterday as described. Had been in Auto mode in morning and when starting vehicle in afternoon the Service 4WD light came on and sure enough it was in 4WD. Called dealer service team and they told me to bring it in immediately and they could do a quick program update to resolve the issue. I was not aware of the recall and then they said there were 3 additional service updates including the AC. Interesting all these issues since October when I had the Oil Change done and other recall items fixed.
Maybe it's just me but after the reprogramming the steering seems like it takes more effort to turn. Does any know if the EPS is programmable or had the same feeling after the 4WD Service Reprogramming?
Great forum.