Since our TOD is clutch driven this probably won't help ... but it won't hurt anything & it costs nothing.

Find an open field & do a few figure 8's in reverse. Then make sure everything is clear all around your vehicle with plenty of distance behind you. With your wheels straight, really punch it in reverse (try to get the wheels to spin). Make sure you do this on grass or dirt. Do not do this on pavement.

If that doesn't help, then try to disconnect the TOD computer (IIRC under the passenger seat) for about 10 minutes. Reconnect it & take it for a test drive.

Best O Luck & hopefully the simple solution works for ya.

EDIT:

BTW Mav, remember that getting the CEL read doesn't report TOD or ABS issues. You have to do that manually with the flashy light thinggy that deermagnet posted long ago.