I'm not an authority on four wheel drives but as I understand it, the Antara uses the Toyota system for driving the rear axle and Dulac is spot on. The Antara has much the same system as the RAV4 except they had a button to engage AWD which held it in up to 25 mph then it would auto disconnect and go back to torque sensing. The latest ones have, in Toyota jargon, Dynamic Torque Control AWD which includes pre-engaging 10% drive to the rear drive for sharper response when you select the Sport button. Both have the same electronic control of the solenoid-operated rear axle drive.
I can't see on the video but wonder if you had the offside front wheel spinning. Remember you have a diff for the front wheels (in the front transaxle) and a diff for the rear wheels (in the rear axle) so either diff will allow one wheel to spin completely if it loses grip.
2015 Antara Exclusiv 2.2 163ps Manual 2WD