Seem like transfer case lever hit in your car body or the lever might be loose.. I've heard that lifting would cause that. Next time it happens, stop , disconnect lever from transfer case (or you might not need to) and have someone underneath to manually try to switch into 4l. Dont forget to brake .. Lever on mine was so loose that i had to get underneath and manually shift back into 2hi from 4low. One minute fix once you have the tools (I had nothing with me that time)
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