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That very well may be the problem . The only way those auto lock up is when you shift to 4H or Lo & drive forward . If the hubs , wheel bearings have never been serviced that would be a good place to start . I know a lot of folks here have replaced the auto hubs with manuals , They are less problamatic than auto hubs .
I had a similar problem with my '93 with Warn manual hubs.They are the high line hubs too. When I bought the truck the 4x4 system worked but when winter came and I needed to get home I locked the hubs in and shifted the lever into 4wd high but I got no 4 wheel drive! I managed to make it home(45 miles in 2ft. of snow)in 2wd nad 600 pounds of sandbags. I tore the hubs apart that night and found no problem with them but I did find that the axle nut was loose and causing thewhole hub assembly to be not in line and therefore not letting the hubs to slide into gear. Unfortunatly I didn't have the proper socket to tighten the nut so I re assembled the system and drove to a NAPA dealer for the socket then drove home and tore it all apart again. Tightening the nut solved the problem. If you jack the tire off the ground and have play in the wheel, top to bottom,and it isn't the ball joints, the axle nut is loose. When re assembling the hubs be sure to use a light weight, low temperature grease to ensure proper function of the auto hubs, but if it were my truck, I would toss these hubs and get a set of manual hubs.
I own a 93 F-150 auto 4x4 and the 4-wheel drive worked fine for a few months after I got it but I noticed they started sticking and they would lock in sometimes. So i broke down (no pun intended) and bought warns manual hubs. I have not had any problems with them since. Good luck.
-Jason-
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