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Two things:
1. The "service rear diff warning" can come on for all sorts of issues. I had a collapsed lifter and it set of a diff warning.
2. Shaking on the track? If you use the safest setting, I think it was "Dry," it has way too much intervention at big throttle openings or torque situations. It cuts back way too much and causes vibration.
I know this isn't the answer, but it may help you narrow it down.
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