You've answered your own question, Ian.
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The warning in the manual is saying that by the drive to one wheel disengaging, it will put all the drive through the other wheel. This extra stress on that wheel may cause it to lose traction. If this occurs the other wheel will re-engage.
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Now, why one earth would the inside wheel loose traction?
Lets do this one question at a time.
Why would the inside wheel loose traction?