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If it is a Sport or Sahara model, you have a shift-on-the-fly capability. Just to the left of the shifter is a lever. Pull up once for 4WD Hi (trail riding, light off-road). Or pull all the way, following the track diagram on the lever for 4WD Lo (Low gear crawling, steep hills). Lower speed to 3-5 mph before trying to engage. Just be sure to let your foot off the gas before engaging it. It's easier on the transfer case.
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