deertracker, here’s a couple of thoughts from a Ford guy. Your Explorer does run in 2wd until 4wd is needed, it’s not “locked” in 4wd all the time, though some power may be transferring to both axles. Anyway, your problem happens after turning a corner, which could indicate a low fluid level in the trans. But, if the fluid is discolored and smells like 3 week old coffee, you have internal clutch slippage. Changing the fluid won’t fix the problem, and could actually aggravate it because the clean fluid is thinner. You didn’t indicate whether this only happened in “Drive” or also in “Reverse”, so I’m going to assume “Drive”, which means the forward clutches are burned. Depending on the conditions of the metal parts in the trans, converter, front pump, etc. you’ll now have to weigh the cost of an overhaul vs. a rebuilt assembly. Not having a dipstick makes it tough to check fluid level or condition of fluid, but it does help keep out dirt, moisture and incorrect fluid additions. Hope this helps.