A method for diagnosing a park function in a vehicle including a plurality of in-wheel motors each including first and second planetary gear sets includes, at a computing device, selectively engaging each of the first and second planetary gear sets in each of the plurality of in-wheel motors to place each of the in-wheel motors into a park state, engaging respective locking mechanisms of each of the in-wheel motors, when each of the first and second planetary gear sets is engaged and the respective locking mechanisms are engaged, determining whether a corresponding one of the in-wheel motors maintains the park state, and operating the vehicle in a selected one of a plurality of operating modes based on the determination of whether the corresponding one of the in-wheel motors maintained the park state.