That is indicating a malfunction - could be just a sensor
If you start the vehicle, put the trans in neutral, then put the 4wheel drive in 2wheel drive, then put trans back in gear it should disengage the 4wd. The 4wd drive is a electronic function. You may have to tap the brake pedal after you have selected 2 whl drive with the trans selector in neutral
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I believe you put it in Nutral with your foot on the break, and it will shift. That's what I have to do to go from 4hi to 4low. Not sure about your question though because I'm stuck in 4wd. lol
If it is automatic you will probably find your knee is putting it in 4wd when it knocks against the the hi lo gear lever.
if you have to ask this then I would have to guess that your Cherokee is NOT a 4wd model...otherwise the 4wd SHIFTER right beside the regular shifter would be a very obvious clueon how to do this. If what you mean is exactly how and "when can you" then you can engage 4hi at any time moving or stopped but to engage 4low you need to be stopped completely and in neutral. same answers for going back to 2wd.
Did you try putting gear shift in "neutral" when shifting into 4 WD Low?
Neutral
to switch to 4 wheel drive ona sport trac can be done while driving from 2wd to 4wd high at speeds not exceeding 80mph. to put in 4low you need to be stopped and the best bet is put your truck in neutral till it engages
By putting your junk in a woman's mouth and throwing her head back and forth as her lips and tongue grind your lucky shaft.
transfer case is prolly blown up
Problem in the transfer case