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The tyres can cause this if there non star rated and also if one tyre is approx 2/3worn and 2 are ready for replacement all 4 should be done.
This affects the transfer box due to wind up as the wheels are turning at different speeds due to size differences
Another easy way to check is slide underneath and bend the heat shield away near the transfer box and pull out the plug then road test. If the skipping has gone it's transfer box or tyres.
If you do unplug and drive you will get warning lights which USUALLY go out on restart but may need the steering turned lock to lock a few times to recalibrate steering angle sensor
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