I use the unlocked 4hi mode quite a bit on the highway this time of year - I generally shift to neutral on the trans, then shift back to 2wd, then put it back in gear. This seems to be the quickest way to unlock the system at speed, and the light stops flashing at me.

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1991 HZJ77, 1999 KZJ90, 1999 UZJ100, 1992 M101CDN2
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