After some good hours reading around i think i have some idea about whats going on with my car. I Checked the fuses and they were all good. I Pulled my ABS fuse out and went for a test drive and the problem on my brakes just went away, but as soon i put the abs fuse back the problem comes back. My mechanic got the codes from my brakes message and it he said my speed sensors in one wheel is bad. Reading around the web i found out that those sensors are used to sense the difference in wheel speed to activate the SmartTrack system. If there is an ABS fault the AWD (SmartTrack) system will not operate. Anyone knows if that is true??