with 4-wheel drive engaged make a sharp turn at low speed. (2mph wheel turned max left or right) if it rolls in a circle smooth the hubs are unlocked. if it feels like it binds or is jerky while turing your hubs are still engagedupdated answerdon't ever make a sharp turn on pavement with 4 wheel drive engaged. you could easily break something in the front drive train.
Put the car back in 2-wheel mode, then drive in reverse (in a straight line) for about 20 to 40 feet. This should fully disengage the hubs...this is a good safety if you've been driving in 4-wheel low.
If it has a manual transmission, put it into neutral.... if it has a manual transfer case (or an electronic one with a button to go into neutral), put that into neutral (and make sure you unlock the steer axle hubs). Otherwise, you'll have to remove the driveshafts... if the steer axle has manually locking hubs, you can keep that one attached and keep the hubs unlocked... otherwise, you'll have to disconnect that one from the front differential, as well.
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