How do you get 99 4runner 4wheel drive out of park?

No not as long as you are stopped

Whining when you start it up in park. Check the power steering fluid. If it starts after you are going down the road, check wheel bearings and front differential. If you live in Indiana/pothole city. You may want to check alignment.

Does it shift to 4wd high range ? If so then shift to 2wd . What is going on here is the transfer case motor is stopping due to the motor position sensor has gone bad which means that you replace the transfer case motor assembly. But if you wish to make it a 2wd for awhile then remove motor and manually turn shaft . This can be done by raising and supporting rear axle truck in park remove motor turn shaft slowly with pliers and rotating the play in drive shaft. There are stamped markings on back of case showing gear positions..

Probably going to be the steering wheel position sensor. Keep track of how you park, keep wheel straight when you park will keep the light off. Most of us just live with it and park with wheels straight.

Could be your neutral safety switch is bad.

Drive in reverse a few yards put into neutral or park with brakes pushed down and then try. May have to do it several times

there is NO '4wheel drive emergency' light on a 2006 Tucson.

If there is no switch present then it is full time 4X4, it does not disengage, good for travel bad for fuel mileage.

I just bought a jeep liberty, 2005. It's automatic with 4wheel drive option. I do not have an owners manual. Do not know how to engage the 4wheel drive. I have never had a 4wheel drive vechile before.