I had the very same thing happen to me in my 2020. It happened just now! I restarted the truck and it was fine. I was in a full on cyclone when the dash lit up. 4A donuts are the best by far, there is nothing like a 50 Yard power slide loops around the parking lot. 4H with the rear locked makes the truck push to much. 4A will eventually force 4H during donuts. There is something that heats up and causes the switch. I am going to wait and see if there is any long lasting issues but my guess is it will be just fine.