There are a couple of speed sensors on the transfer case that go out and need to be replaced and a multiple wire connector above the front cross member that is "weather proof" that gets corroded and needs cleaned sometimes. Get a dealer to track the code and find the real problem. The system is easily confused by poor connections. If you have driven in "deep" water, the problem may be a bad connection or the TOD computer. Driving the VX should not be a problem but will make you nervous.