Four wheel drive will not engage when truck is warmed up.sometimes it will engage usually when truck is cold????

On the full size, the front actuator is electric, not vacuum.

When in 4wd mode, a switch on top of the transfer case conducts 12 volts out to the actuator. Wire #50 (brown) is the 12v feed, and it conducts to the light blue wire (#900) to the actuator.
When shifted out of 4wd, the switch opens up and no voltage goes to the actuator.

Check voltage at the connector for the front actuator (at the front differential - it looks like a large bullet that threads into the front diff.) If it has 12 volts, the actuator is the problem. If it does not have 12 volts, check the transfer case switch and the power feed to the transfer case.

I'll assume it is the actuator, if the plug to the actuator is getting 12 volts when in 4wd.
The way this actuator works, is it is a sealed chamber that gets heated by voltage. When it heats, the pin in the end swells and pushes a shift fork in the front differential. The shift fork engages a spline on the passenger side of the differential, and boom! you have 4WD.

GM offered an upgrade to this actuator that is a motor instead of a heated device. However, it requires a small harness addition, a spacer, and a new actuator. It is about a $150 to $200 option.

Good luck. The actuator is usually the problem 90% of time but recheck all of the wire harness just to maker sure there is no short before replacing any parts.

88-UP C/K ACTUATOR UPGRADE
VEHICLE SERVICED: 1994 CHEVROLET FULL SIZE
PURPOSE: IMPROVE AXLE CONNECT ENGAGEMENT TIME AND
COMPONENT RELIABILITY.

SYMPTOMS: NO FRONT DRIVE AXLE ENGAGEMENT WHEN SHIFTED
INTO 4X4.

Obtain the following GM part numbers:
(1) 26060073 Actuator
(1) 88959465 Harness/Spacer Kit

There are three parts involed with the electrical part of your system.The switch,control module,and the shift motor.Since it seems to be affected by temp and works when cold i would suspect the shift motor down on the transfer case.You can check this motor by unbolting it from the t-case and running the switch on the dash while watching the shift cog on the motor move.do this when it is warm and not working.Dont discount the control module though.let me know what you find and if i can assist you more.