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So the other day I took the Jeep out in a little mud and now it sounds like(revs like) it's stuck in 4H but the RPM's are normal for 2WD. I've engaged the lever with the light successfully coming on and off.(could the Jeep still be engaged in 4wd even though the light on the dash goes on and off?) The Jeep is whining at a fairly high pitch and I'm wondering if it could be the transmission. Gears all shift smoothly. All belts look fine as well.
Any ideas?

Any ideas?