Hiya, I noticed recently my FL2 was acting quite strangely.

When I start to pull from a stop say, to the right in a 'T' Junction, I noticed there are noise and hesitation like slipping on the passenger side rear wheel making a 'ta ta ta ta' sounds.
Sometimes even making the same stutter with that sound in straight road.

I was wondering if that's coming from the Rear Diff? DSC? Haldex ? etc??

I brought it back to the main-dealer in sidcup, they figured a code coming from the YAW sensor.

After they changed it, the problems still there?

In addition to that, the car starts to develop a whining sound when accelerating.

Any ideas guys?

My car just done 17000mls. I reckon why is it happening?  Freelander 2 XS MY 2012, 19" rims, Barolo Black. Privacy glass, spoiler.