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Actually you can solve your 4wd problem easily and relatively affordably IF the option is available for your truck. When your NOT in 4wd the front shaft should not be turning but you are right the axles MIGHT be. Depends on your car CALL the dealer to find out.
If they DO look into after market HUBS for your car. You can get manually locking hubs or auto hubs (which your car SHOULD already have) to make sure the hubs unlock drive briskly in reverse for 30-50 feet. This should disengage the hubs and now your front wheels should spin freely WITHOUT spinning your axles of front drive shaft.
If yours do NOT have unlocking hubs you can look into after maker hubs.
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