Great info guys, I went back to the dealer today and they will have a look at it as soon as they can (its a Nissan dealer so hopefully they can handle it)

. shakespear, I certainly have noticed some juddering, in reverse, 1st/2nd and during engine breaking, also occasionally there is a large thud from the rear changing 1st to 2nd.
Hey Ms Mazda, is the clutch in the one you ended up buying any different? The light came on for me driving south too, it seemed to occur around new sections of the freeway, so possibly the road surface is causing the abnormalities in wheel rotation, light hasn't appeared any time other than on the freeway. I agree CR Kais are my favourite too, great looking wheels.
Anyhow, sorry for turning this into a million question thread, good to know the AWD protects itself kmh001 hopefully all the problems get sorted soon, will definitely come on the cruise.