structure
Modulation is when the music changes from one key to another. For this example, the main attraction is the string section (Violin, Viola, Cello and Bass). This segment of the movement starts in D major and moves to D minor, with a slight movement into F Major. The key modulation can sometimes happen with changes in tempo, dynamics, melodic shapes, rhythm structure, etc. For this excerpt, the rhythm is very busy within the mid voices of the strings and some accent variatons on the high voices. Because it is the finale, it's common to end the piece strong with a statement and in this case, it also involves a subtle variation to create tension and release with the key modulation. With that in mind, the dynamic ceiling changes as well. When it's in the major key, the sound's very powerful and moving, while the minor key presentes a more subtle and quiet, yet moving section of the piece.
The violins play the complete initial statement of the main theme for this movement of the sinfonia. The main theme is the melodic idea which forms the compositional foundation of the movement; portions of it will be repeated in isolation, transposed, and varied with some repetitions of the complete idea over the course of the movement.