That's the thing, I'm not sure it's a "problem" but rather just the way ATR is programmed to react in certain conditions. At the moment I'm not worried about it.
Quoting myself here because I've had some time to trouble shoot driving with ATR on and off.
This may or may not be the same issue as the OP is describing, but driving around with ATR OFF I don't get the studder I previously mentioned.
ATR seems to be selecting snow/gravel/grass automatically for me based only on the outside temperature, leading to some wheel studder on dry pavement and some throttle response limiting as well. The studder is similar to what happens when driving an older 4X4 vehicle with the differential locked on dry pavement. If you've ever had an older 4X4 and forgotten to disengage 4WD you know what I'm talking about.
If you're driving with ATR ON and want to see if the program has you in a mode other than normal, while at speed turn it off. You'll BRIEFLY see on your dash the system flash the mode it has you in before it defaults back to normal. I've confirmed this a few times. Below freezing (or there about) ATR has my truck in snow/gravel/grass. Above freezing it keeps me in normal.
So if you notice sluggish acceleration or a funny feeling from your drive train / wheels when the temperature is below freezing, try turning off Automatic Terrain Response and see if you notice a difference.