no u-turns for me?

If this vehicle is equipped with an automatic transmission and is all wheel drive then you have a bad transfer clutch assembly. You will need to remove the rear tail housing from the trans and replace the clutch pack and solenoid. This is not a job for the backyard mechanic because the components have to be measured and set up properly for it to work again. I have done about 100 of these in my 20 yrs as a subaru tech. Ron's Auto Repair

Great answer Ron!

could it be a cv joint?