2015 LEXUS NX Electronic Stability Control Esc Problems

ON 7/29/2018 - WHILE DRIVING THE VEHICLE IN ROUTINE STREET (NON-HIGHWAY) TRAFFIC I FELT A SLIGHT DRAG AND THEN THE YELLOW WARNING LIGHT APPEARED INDICATING 'AWD SYSTEM MALFUNCTION 2WD ENGAGED.' LESS THAN A WEEK EARLIER I HAD THIS PROBLEM ADDRESSED AT A LOCAL AUTO SHOP AND THEIR DIAGNOSTIC INDICATED THIS WAS A TURBO GATE PROBLEM AND THE GATE WAS NOT CLOSING ELECTRONICALLY. I WAS ADVISED TO TAKE THE VEHICLE TO THE DEALER IF THE PROBLEM RETURNS. I HAVE CHECKED ONLINE AND SEE THIS APPEARS TO BE A PROBLEM FOR OTHER NX300T OWNERS AND CONSIDER THIS MALFUNCTION CAN BE CATASTROPHIC SHOULD THIS MALFUNCTION OCCUR WHILE DRIVING DURING BAD WEATHER CONDITIONS. IN ADDITION TO THIS PROBLEM I WAS HIGHWAY DRIVING APPROXIMATELY DECEMBER 2018 WHEN I EXPERIENCED THE VEHICLE SURGINDAS THOUGH HYDROPLANING BY THERE WAS NO BAD WEATHER AT THE TIME. I HAVE NOT HAD A REPEAT OF THIS OCCURRENCE.