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Recently I tested out my 4x4 drive and found that it doesn't want to go into gear with reverse. The stick pops into the gear but a grinding-like sound is heard and the truck doesn't move. The sound is not harsh like when you grind a gear driving down the road, its much softer and doesn't make you want to clench your teeth. In 2WD mode, reverse works fine.
I had a problem just like yours. I found that in my transfer case where the shift rod goes in the side was worn. This was letting the shift fork not engauge properly. It could be something similar or you could have worn shift fork. Now , I am not a tech but my problem might help with yours. What we did to fix it. A new front half of the case was over $400 . Way to much for my wallet. Took the TC out and tore it apart, took the front half to the machine shop and for $15 he drilled it out and put a sleeve in. A real cheap fix but it works and the sleeve is brass so it should last.
Rick
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