Driving in reverse is to unlock AUTO front hubs after being driven in 4 wheel. If you have manual hubs no just turn the hubs to "free" and shift back to 2 wheel. There is no real "procedure" for in and out of 2 and 4 High. I normally lock the hubs first as you don't want to drive around with the T case in 4 wheel and hubs unlocked. I snow plow and once the weather gets bad I just lock my front hubs and leave them locked using the transfer case to shift in and out of 4X4 High. However in and out of 4 low can be tricky on some. You might need to let the truck roll a little to get the gearing to line up to engage 4 low or to slip out. Also this is more for a manual transfer case if your is electric or vacuum read your book as I know my GMC jimmy is push button 4x4 and I have to be rolling on level ground very slow to engage or disengage 4X4 low.

 

Thanks for the info, the truck is manual hub, manual transfer case.