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I just changed the shift motor on a '06 Expedition. Which is the same motor as the '03. From the dealer it is about a $230. Look around junk yard or ebay. I got mine for $85. It took about half hour to change out. Hardest part is there is a white wire that goes from the wire connector into the housing on the transfercase, and this needs to be cut and spliced back to the new motor. I suggest using some heat shrink to seal this connection. Four bolts is all that holds the shift motor in place, easy access (from below) to the bolt heads.
I had the same symptoms that you describe. Now I have four wheel drive again. I have heard this is the weak link in the system and I believe it now that I changed the motor.
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