...I'm not so sure that DTC brings the four wheel drive in straight away. What it does do is inhibit DSC* and (I think) augment some of the "grip" characteristics by introducing braking on slipping wheels. The combined effect of that helps you escape/drive off in muddy/icy conditions. (Though I suspect that 4WD will come into play at some point).
*I had a Mondeo that was virtually undriveable slowly in snow, as the (default) DSC got ever so confused by various wheels slipping at different rates, and was constantly trying to correct it. Once I read up, the manual recommended DSC off in such conditions (and just about only in those conditions). It made a huge difference to starting/driving slowly on snow and ice.
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