This is a long/hard one to answer as a few things can cause this. First, check the vacuum lines running from the engine down to the front axles for cracks, and make sure you have vacuum to the axle hub. Second, remove and inspect the front wheel bearings, they should be set to proper preload and there should be no signs of water in the hub. And last if there is water in the hub, that most likely means there is rust on the front axle, and the pitting caused by the rust will not allow vacuum to build up and ingage the four wheel drive. the later requires a new front hub kit $$$.
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