Let me help you out. The car feel like a rwd car, if had not known I would swear it was rwd.I previously had an f80, and they felt the same with respect to feeling. The xdrive engages only when the car detects slip. Im still in break in period so I have not experimented with the other modes 4wd sport and rwd yet. From a stand still there is no hesitation when accelerating, ther car does not wiggle at all it just goes putting the power down. I have no complaints
