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Hello. Welcome ot Just Answer. The ability to drive it depends on your transfer case. If you have the Command Trac system (2H-4H (orange)-N-4L(orange)), yes, you can drive it home.
If you have the Selec-Trac System (2H 4H (green) 4H (orange) N 4 L (orange) I would recommend you not drive it. Now, if the front driveshaft is hanging from the front axle, you need to have it removed. You cannot drive this vehicle safely in any capacity with a half-disconnected driveshaft.