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It should come out just from moving the stick to the 2wd mode but a lot of the times you have to move in reverse for 40 or 50 feet. You should simply be able to push the handle to the 2wd mode but many times it'll indicate that you're no longer in 4wd when you're really still in. You sometimes have to drive the vehicle in reverse for 40 or 50 feet. It should come out by then. You can check it by making tight turns and see how the steering feels.

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Q: How do you get a Jeep Grand Cherokee Laredo out of 4x4 mode?
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