A vehicle driveline includes a power source, a transmission connected to the power source and including an output driveably connected to primary road wheels, a driveshaft, a synchronizer that opens and closes a drive connection between the output and the driveshaft, and a clutch that alternately opens and closes a drive connection between the driveshaft and secondary road wheels. A control executes synchronization and connection strategies using one of singular, overlapping and sequential activation of the driveline components that produce all-wheel-drive on-demand.