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With the exception of a few vehicles I have always been taught to come to a full stop prior to changing from 2 wheel to 4 wheel. Definitely from 4 wheel high to 4 wheel low. Subaru has vehicles the advertise changing on the go but I have not heard this about Toyota. I live in snow country and have 2 Toyotas an 86 and a 92. One has locking hubs I have to rotate and one uses self locking ones I can do from inside the cab. Both require that I stop and shift into 4 wheel.

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14y ago
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Q: What is the proper procedure to engage and disengage four wheel drive in a 1995 Toyota 4runner?
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