COMply with Ron request.....then do you feel resistance, dragging brake effect ? Can you turn ESP off and see if that changes something? THen, you can pull of the 20A 4WD fuse from the fusebox under the hood. THis will decommission AWD, but also traction control. Erroneous activation of traction control does apply brake to the wheel that is sensed as spinning....but that comes with a rattling noise........ I noticed I burning smell from the tires
Report findings. www.avigex.ca/kia/fuse0s.JPG
EDIT:....on a second thought, I'm not so sure disabling AWD would also disable traction control.....however you should try it: the AWD control is known for several problems that lead to ruining the AWD coupler. But if oyu still have the same problem, you can also pull off the 7.5A ABS3 fuse. Of course, it disables ABS....but also AWD and traction control for sure. THen see if that removes your problem...then you will be on a track, or search, to identify the actual cause or culprit. These test are not for the car to stay in this condition; you will want to recover all functions as soon as possible.