Can I continue to safely drive with SERV4WD Light warning?

I have 2012 Jeep Gr. Cherokee Limited, 5.7L Hemi. with 91,300 miles.  
Recently experienced the dreaded SERV4WD light.  It goes off after short
distance, but 4low light comes on briefly and then goes off.  I typically switch
from Auto to Sport mode on dry pavement.  I used VeePeak OBD2 and got
codes:  U0104 and U0114.  I have checked all fuses in the 'Integrated' box,
and all were good (checked continuity on most, and visually inspected the
cartridge types for 'good metal').  Have only ever driven the Jeep in 4LOW
once, many miles ago.  However, that was on a sandy 8 ~ 10 mile detour
through a National Forest in central Florida.  The detour took us through
some swampy areas before getting back on the pavement.  I watched an on-
line video of a guy who found corrosion inside the electrical connector to the
transfer case motor. The SERV4WD light didn't come on until well after that
trip (6 months ago).

Is it safe to continue driving the vehicle at speed, for a long distance?

How do I correct the issue (Lost Communications with Final Drive Control
Module) indicated by the codes?

Have not been able to locate the TSB related to erroneous "Serv4wd" Light.