4wd Won’t engage until stopped

I have a 2019 XP4T with about 500 miles on it. I have noticed that if you turn on the 4wd while moving, it won’t actually turn on until you stop. The front end won’t engage and start pulling until you stop, then it functions as normal. If the switch is turned off and then back on while moving, again it won’t turn on and engage the front end until the RZR comes to a complete stop. Has anyone had an experience like this before? My dealer is about 100 miles away so I would like to get all your opinions on this before I make the trip out there. Also....it’s out of the warranty period so I’m trying to get this fixed on my own.

Thanks

Tom