2004 X5 AWD failure

I have an unusual problem with my X5's AWD. Last night I rounded a corner in the snow and the traction control kicked in. Suddenly the car made a strange noise, all the warning lights on the dash came on at once and then the car died. After restarting the motor the AWD did not work. There are no warning lights and no other indication that there's a problem like noises or smells.

Is there any way to reset the AWD system?

The vehicle is currently parked in a snowy driveway with no way to get out without AWD or a tow truck. Please help.

Transfer case actuator motor broke. There is a plastic gear that engages the transfer case and it has stripped.