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Jody, this is out of the manual
Warning light Comes on or blinks when: Comes on There is a malfunction in the 4-wheel drive system Blinks slowly The difference in wheel rotation is large
Have checked by a good technician, press the helpful button
Sounds like your 4x4 is engaged in 4 low. If your Tach shows High RPM then your still in 4 wheel drive Start the truck, place in Neutral and try shifting Out of 4 Low,into 2 wheel drive then reverse for about 10-20 feet to try and help it disengage from 4 Low.
I checked a consumer advocate site and realized that I am not the only one with this problem. I read that there is a problem with the Nissan Titan tailpipe falling off, well the problem with this is that it melts the wire harnes that goes to the abs and rear wheel sensors. Since this system is all interconnected it causes the 4 wheel drive not to work. In particular I found an unprotected wire harness disconnected by the passanger side rear wheel that was broke, after stripping this wire and reconnecting it, it turned on the 4-wheel drive. Make sure the truck is off and it is in 2 wheel mode when this is reconnected it could cause a blown fuse or an electric shock. Trial an reading free blogs solved my $675 diognostic fee, pass this on I am sure I am not the only one with this problem.