On my 2000 4wd. extra cab, I unlock the front wheel hubs [they are manual, so you get outside with gloves on or a wrench]. Then, I operate the 4wd gear shift lever until the 4 wheel icon light goes out on the dash panel. Now, this may take some delicacy. Sometimes it goes right off, other times you have to 'play' with the lever over and over to get that indicator light off. Rarely you will have to start the engine and use first gear to move the vehicle a few feet, then try again. At least once I was sure I had the 4 wheel shifter in the right position to disengage 4wd and it would not do that until I started up engine and drove some.
Also note that on my 2000 at least, when in 4wd if you take too tight a turn it sounds like things are binding up and that can stop the vehicle from moving. This is my first 4wd so maybe they all do this. If not all, then a defect in mine? or a design problem with the 200 4wd.
The 2006 Toyota Tacoma has rear wheel drive.
The 2003 Toyota Tacoma has rear wheel drive.
The 2013 Toyota Tacoma has rear wheel drive.
The 2002 Toyota Tacoma has rear wheel drive.
The 2014 Toyota Tacoma has rear wheel drive.
The 2008 Toyota Tacoma has rear wheel drive.
The 2004 Toyota Tacoma has rear wheel drive.
The 2005 Toyota Tacoma has rear wheel drive.
The 2011 Toyota Tacoma has rear wheel drive.
The 2001 Toyota Tacoma has rear wheel drive.
The 2012 Toyota Tacoma has rear wheel drive.
The 2007 Toyota Tacoma has rear wheel drive.