Not sure who told you that you need to be in motion in-order to switch into 4x4, but that isn't correct. Generally speaking manufacturers recommend not traveling over around 25-30 (depending on manufacturer) to engage 4 hi and typically to go into 4lo you want to be going under around 5-10 MPH if not completely stopped.
I usually find it easiest to shift in and out of 4LO when just barely inching along in neutral, but can sometimes make it work at a complete stop as well. The owner's manual for my 2006 says to be coasting 2–3 MPH when doing so. It grinds more often if I'm stopped, shifts in cleanly if moving slightly.
As for the original question, however—the easiest solution is to shift into 4WD before getting into a situation where you'll need it. If you notice conditions deteriorating ahead, shift into 4WD before you get there. I generally go into 4HI once I get onto a lower quality road/trail and then selectively into 4LO if needed.
Anytime I shift into 4WD HI or LO (either one) ... I...
1. Always keep the clutch pushed in and shift to second and then to first before engaging (sometimes in and out to be sure theres no binding)
2. Am ALWAYS completely stopped and/or barely rolling (1-2 mph)
I have never had any problems with grinding while doing it this way
ALSO, if you never use 4WD HI/LO , you need to find the sweet spot in the transfer case handle position. Pulling all the way back to where it stops doesn't necessarily mean you shifted into HI/LO 100% . I'd say practice shifting, slowly, at a stop and in neutral. Should be easier for the Manual guys to feel when you're in (heh heh) solely because were already used to shifting gears.
ALSO, if you never use 4WD HI/LO , you need to find the sweet spot in the transfer case handle position. Pulling all the way back to where it stops doesn't necessarily mean you shifted into HI/LO 100% .
I run into that problem with 4 Hi because my dash lights don't work. It always takes me a second to find the right spot. And sometimes it'll slip into neutral if I pull it back a wee bit too far. Never had an issue with Lo.
Not hard. Just loosen the set screw on the linkage under the jeep, then put the jeep in 4lo right at the transfer case and then hold the shifter handle in the cab all the way back in 4 low and tighten the set screw back down.
May be easier with an extra set of hands to hold the handle in the right place or you can put just enough tension on the set screw to hold it in place but still let you move it. Then put the shifter in 4lo and tighten the screw back down.
2 to 3mph depress the clutch slam it in 4low don't hesitate, you'll hear it grind some let of the clutch & go . If you have to you can do it sitting still , if you have no other choice.
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