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if you have to ask this then I would have to guess that your Cherokee is NOT a 4wd model...otherwise the 4wd SHIFTER right beside the regular shifter would be a very obvious clueon how to do this.

If what you mean is exactly how and "when can you" then you can engage 4hi at any time moving or stopped but to engage 4low you need to be stopped completely and in neutral. same answers for going back to 2wd.

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