2004 GMC Envoy one wheel goes in reverse when I put it in 4-wheel drive

Is it doing this while up on a lift with the wheels off of the ground? Which wheel goes in reverse? This may be normal operation of an open non locking differential if this happens with wheels off of the ground.

It is the rear passenger that is going in the wrong direction only when I put it in 4 high on the ground I haven't tried in the air

Putting it into 4x4 should make no difference in what the rear wheels do. If it were mine I would check the fluid level and it's condition at the transfer case and the rear differential. The rear differential may have a problem.

Thank you