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Since this post was brought up again, the problem was the transfer case position sensor, which is a little plunger sensor that detects where the lever is to tell the computer what tcase gear it should expect. I replaced it with an aftermarket replacement part, and it still did not work (actually was even worse). I then measured the resistance in each mode, put resistors on a 3-way switch, and I just flip the switch when I change between hi and lo, and never had a problem since.