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Yes, it's normal until the diff lock is fully engaged, which can take a while.
 
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2020 Yamaha Viking EPS
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I find it best to be stopped and in neutral when switching to Diff-lock and rotating the steering wheel back and forth until the Diff-lock light stops flashing and stays on solid then your good to go without being in limp mode. If you don’t wait for it to lock in and keep going limp mode kicks in so it can try to engage and this takes longer
 
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