good morning, I have a 2006 Volvo xc90 2.4D5 AWD 136kw engine D5244T4 automatic

on the display: ANTISKID RICH. ASSISTANCE

when the car is lifted and the wheels are turned, the 4×4 does not work (the rear wheels do not move) and in the fault memory I have :0094 communication,bus can and will not clear

I have already replaced the steering angle sensor because it was giving me a fault that no longer occurs (I have also made adjustments to the sensor).

can the motor on the rear differential give problems?

thank you in advance

Di Pierro