I have a 94. Had the same problem last year. If it is the same as mine there is an actuator located on the front differential. When you pull the lever to put it in 4h this thing acts like a push rod and pushes the gears in place. It screws right in and there is a plug. I bought mine on-line for about 80 bucks. The car guy told me they do wear out becuse the get all the road grime and the part is gas filled. I'm not a mechanic but that is what I had to do.
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If the service engine light came on, then the computer should have stored the trouble code. The dealer can scan for codes and see that the problem does indeed exist, and what the problem is. Take it back to the dealership and tell them(don't ask them, they don't respond to kindness) you want the computer scanned, you want a copy of the computer readout, and you want the problem fixed, or they can put you in touch with the regional factory representative. You've got to get past the service writer and the service manager to get anything done.
I have this problem too, from time to time, it won,t act up for the dealership, when the service message is on I can shut the truck off and come back later and the hubs have turned in and the service light is off and the 4 wheel is fine, it is a '07 gmc 2500 hd
the next time you shift into 4 wheel drive, try backing up alittle bit and see if it shifts in and light comes on. i have a 1995 half ton chevy pickup and thats what i have to do do to get it to lock in.