A method of controlling torque on a vehicle wheel axle includes comparing a torque intervention request to a predetermined minimum axle torque for a current vehicle speed and a current direction of motion of the vehicle. The predetermined minimum axle torque decreases as vehicle speed in an operator-selected direction of motion increases. An arbitrated axle torque is calculated based on an operator-requested torque, the current vehicle speed, the current direction of motion, and the greater of the torque intervention request and the predetermined minimum torque. Axle torque is applied to the vehicle's wheel axle based at least partially on the arbitrated axle torque.