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A lot of these troopers had a module on the side of the transfer case that put the unit into gear. They go out fairly often. Also check the solenoid on the front axle that engages the front axle as they are another problem that will cause the front axle not to engage
Start by checking fuse #7 a 15amp fuse in the fuse block under the left side of the dash. This fuse is for the accuator motor on top of the left front axel tube. The accuator moter engages and
disengages the front axel for 4wd and 2wd. If the fuse is good, have someone operate the switch
and check to see if the accuator is working, you should be able to hear it engage or disengage.
If it's not working check the connections and for power at the accuator before possibly changing it.
If the accuator is working, it could be a problem with the shift fork inside the differential. Also, have
someone start the truck and engage the 4x4 then look to be sure the output shaft from transfer case to the front axel is turning. The safest way to do this is to have all 4 wheels up on jack stands.
Hope this is helpful.
You have vacumn lines the run to your transfer case and then to the vacumn motor on the front axle. you need to check the lines and connections. If vacumn is working fine, then motor on front axle is bad.
Find the accuator on the front axle it has a two wire pigtail and threads into the axle housing. Check for power and ground if you have both when the transfer case is in 4x4 the replace the accuator. They are available at most parts stores and are a very common problem. Let me know how it goes.