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The circumstances that will make your manual hard to shift out of 4LOW are the same circumstances that cause the ESOF transfer case to not want to come out of (or go into) 4LOW.
Either the front and rear driveshafts aren't aligned just right with each other, or there's preload between the front and rear axles causing the transfer case to stick.
What I do it as described in the owner's manual. You need to be in neutral AND have your foot on the brakes, AND not be moving for the ESOF to even TRY to go to LOW.
Rolling backwards or forwards a little bit before doing it helps relieve the preload (bind) or repositions the driveshafts just enough to complete the shift.
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Side note: I don't like ESOF either and would have gladly taken the manual if I hadn't found the ONE V10 on a dealer's lot on Long Island apparently, back in 2002.
I've noticed that if I don't use the 4low for months on end Its seems to not want to lock in 4low then recently I cycle it through once every week or two never had the problem again I just wonder If one of the switches gets stubborn when the 4 low does not get activated occasionally.