First off I have a 2014 570 Crew and got about 500 miles on it. This is my first Polaris, owned suzuki and yamaha ATV's prior to this ranger. This weekend in about 10" of snow I got a good feeling for how the AWD system works and I am a little on the fence when comparing it to real 4x4. I noticed that sometimes it took the rear end getting a little sideways before the front end engaged the AWD and when it engaged it was very obvious as I noticed the vibration in the floor and some in the wheel. Is this normal? Also what point in the AWD system is engaging the AWD, the front diff? Just seems to me that the front should engage sooner than it does especially in snow and it seemed like it was in and out of AWD more than it should be probably due to the slippery terrain. From what I read this all seem normal, but I am a little worried about the vibration as my warranty is about a month from expiring. Thanks for any insight.