A drivetrain for an agricultural vehicle and method for controlling the same. The drivetrain includes first and second driven axles with a variable pivot angle hydraulic motor connectable to drive the first axle through engagement of a first clutch mechanism. A further motor is connected to drive the second axle. In operation, the pivot angle of the variable pivot angle hydraulic motor is reduced with variation in a vehicle parameter value, such as transmission ratio or ground speed, to a point at which the pivot angle reaches zero at a first parameter value. With the pivot angle at zero and parameter value continuing to vary due to the drive of the further motor, the first clutch mechanism is disengaged at a second parameter value, with the first and second parameter values separated by an interval determined at least partly by an operating characteristic of the first clutch mechanism.