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You have 2 relays under the hood for the 4x4 mode. One is for going into 4x4 and th other is to come out of 4x4 mode. Look for those relays, swap them, and then see if the issue is still there.
The relays are in a relay box by themselves, next to the larger relay box under the hood on the driver side. It will be the box the goes side to side, not front to back of the 2 small boxes wit the 2 relays in it. Your owner's manual will list location as well.
What happens is the relay for the return goes bad and makes the vehicle get stuck. If the relays are good, then I would check the transfer case motor or the switch. You can test the switch at that relay box for when you flip it, the relay pin 84 will have power on it when checked with a volt meter. If you have power going to one or the other relays on pin 84 when you turn the switch, the switch is good. If not, the switch is bad.
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