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As long as you replace the worn tire with the same size tire you will not cause any damage to the drivetrain of an all wheel drive vehicle. The systems need to be tolerant of some size difference due to varience in parts, and tire inflation. You will probably notice a difference in performance caused by the better traction of the new tire. This info comes from a development engineer of all wheel drive vehicles. Edit to original answer. The original answer was based on information from one vehicle manufacture. Other manufactures may not be as tolerent of tire size differences. I suggest you read the owners manual or contact the dealership and ask their advice. My apologies for a one size fits all answer.
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