Service all wheel drive system light

My 2013 Cadillac CTS is only about 9 months old and I got a "service rear axle" light and a "service all wheel drive system" light. The car is running okay except sometimes when I hit the gas from a full stop I can feel either a spinning or a dragging from the right side for a few seconds and then the car is fine? Is it something I should have looked at immediately?

Thanks,

Dan