Sounds like a bad vacuum line to the IWE ( Integrated Wheel End ) or a problem with the IWE solenoid.
Operationally vacuum holds the IWE ( Integrated Wheel Ends ) out, and once vac is removed the spring engages the IWE.
Start by checking the vacuum line at the IWE for vacuum when the truck is in 2WD mode, and the engine is running. If you have low vacuum on one side, trace the vacuum lines back towards the IWE solenoid.
This is a block diagram of the IWE vacuum lines
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