need help with an 03 toyota highlander v6 4wd

well let me say hi to everybody first since i'm a newbie on this forum.

so i was coming back from NYC, which is about a 3 hr drive, and i'm an hour from home when all of a sudden the front passenger wheel starts vibrating like abs kicking in for that wheel only. i pull over immediately to check out what is wrong. i changed the brakes on the car about 3 months ago so i though maybe my dumbass didn't torque the caliper down right and it's not hitting the wheel. well that's not the case. there's nothing visibly broken, no fluids leaking, and the CV looks fine on both ends. so the problem is, the wheel will not spin in the forward direction but will spin in the reverse direction. WTF? tranny problem? i have been hearing clunking when i go over bumps from that corner lately but i thought it was worn suspension since it's a 03 toyota highlander V6 4WD. it's a full time 4WD and it is electronic at the center diff.