What is the fix for auto door lock on my 2007 chevy silverado engage and disengage while driving on the freeway after the vehicle is warm

brake switch.located on the brake pedal.

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Weird. Could be a computer issue. Almost any problem with a newer vehicle could be but It could also be the transfer case?

Sounds like it could be a defective body control module.

Bad battery, there has been a rash of them lately in Chevy and GMC trucks.....

My 2003 Silverado has done this several times. This happens (at least on my truck) when I switch from any other mode to 2H when the truck is not moving. The front hubs are locked in the engaged position (actually, it locks inside the front differential) when in 4HI, 4LO, or Auto-Trac. When switching to 2HI, the front hubs try to unlock. The mechanism may bind, especially if they haven't been used for months, like during the summer, and don't completely move to the unlocked position. A switch tells the controller when unlocked, but doesn't always get triggered when the hubs don't get completely disengaged. Usually cycling between 2HI and Auto-Trac while driving will free up the hubs and make prevent the problem of all 4 lights coming on at once. Turning the engine off and then restarting it will usually correct the problem with all 4 lights lit at the same time by resetting the transfer case controller. Then, you will be able to switch from 2HI to Auto-Trac and back to 2HI while driving, as described above, to free up the mechanism. If this doesn't fix it, you will likely have to replace the switch in the front differential that tells when the hubs are completely disengaged, or, more likely, the motor that disengages the hubs/drive axles in the front diff.

Put the key in the run position and turn your 4wd on and off to listen for the electronic acuator to engage and disengage. If your can hear it then it's macanical and a Quick fix. On top of the transfercase on the driver's side, your going to find three vacuume tube connected to a cauume switch that may have gone bad. There common to go bad and there not the bad of a price at the Auto Zone. Check for any cracks on the vacuume line first then get your hands dirty. Good luck and keep an extra switch in your glove box.

Per your discription, it sounds like the functional portion of the system is OK, however the diagnostic circuit has a problem. Take the vehicle to your local Auto Zone or Advanced Auto for a code scan and let me know what they are. We can go from there.
Regards,

Replace the doors.