You can shift on the fly...as you are moving....into 4WD at speeds up to 40 MPH but simply grabing the 4WD selector and moving into the 4WD high gear. Low gear selection should be done at a stand still, with transmission in neutral position before proceeding in fwd. The low position is a "granny gear" that is for extreme situations where high 4WD will not suffice or get you out of a stuck situation.
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